A Methodology of Modelling Fish-like Swim Patterns for Robotic Fish

This paper presents a novel modelling methodology for our robotic fish, which considers the relative movement of the tail to the head in order to model variable swimming patterns for robotic fish. It deduces a tail motion function from a fish body motion function and then uses multiple joints to approximate the tail motion function. Three basic swim patterns are modelled and some experiment results are presented to show its feasibility and performance. The proposed method can be used as a general method for any multiple-joint robotic fish.