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FishSim: Tendon-Driven and Hydrodynamics-Based Propulsion Control for a Biomimetic Robotic Fish

FishSim uses a single motor, two crossed elastic tendons, and a five-coefficient stateless fluid model to make biomimetic robotic fish propulsion an identifiable pipeline. The paper presents a comparison of simulated and real swimming speeds at eight frequencies; trajectory error fell from 592 mm to 91 mm after identification, and it discusses coefficient sensitivity and the limits of the turning experiments.

Part of the event: FishSim uses single-motor tendon drive for biomimetic fish propulsion

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