The dynamic analysis of the backward swimming mode for biomimetic carangiform robotic fish

摘要

The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation fit the characteristics of European eelpsilas swimming backward, which is summarized from the motion sequence of European eel. The simulated and experimental data is given to verify the method.