Design of a Multi-Locomotion Underwater Robot

Abstract

This paper reports the design and simulation results of a novel underwater robot which can perform both fish-style and dolphin-style swimming. Locomotion modes of the robot include straight swimming, left/right turning, upward/downward swimming and rolling. The outstanding feature of the robot is that it can make a rapid change of its beating style simply by rotating the center of mass. Although it has a simple structure actuated by three RC-servo motors, the robot possesses great maneuverability, which is verified by computer simulation