Initial Development and Experiments on a Robotic Fish with a Novel Undulating Fin

In this paper, a robotic fish which has a novel fin structure conceived and designed to be as a propulsor is proposed. The ultimate goal of this project is to provide an insight into the methodology of designing and controlling a propulsion system underwater, which is employed at low speeds, offering greater maneuverability, better propulsive efficiency. The whole process of design, construction and control of a prototype is presented; the experiments are performed to study performances of the fin and to verify the feasibility for further development as an alternative propulsion method for underwater vehicles.