Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical applications.In this paper,we experimentally study this problem by pro-posing the method of coordination control between the caudal fin and anal fin.First,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental platform.Second,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal fin.Third,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal fin.Notably,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65％improvement compared to the scenario without anal fin,and a 57％improvement compared to that with a stationary anal fin.This paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.

Jiang Ding;Changzhen Zheng;Chaocheng Song;Qiyang Zuo;Yaohui Xu;Bingbing Dong;Jiaxu Cui;Kai He;Fengran Xie

College of Mechanical Engineering,Guangxi University,Nanning 530004,China;Guangxi Key Lab of Manufacturing System and Advanced Manufacturing Technology,Nanning 530004,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China;Shenzhen Key Laboratory of Precision Engineering,Shenzhen 518055,China;University of Chinese Academy of Sciences,Beijing 100049,China;College of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 430000,China;SIAT Branch,Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen 518055,China

仿生工程学报（英文版）

[1]Jiang Ding;Changzhen Zheng;Chaocheng Song;Qiyang Zuo;Yaohui Xu;Bingbing Dong;Jiaxu Cui;Kai He;Fengran Xie-.Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin)[J].仿生工程学报（英文版）,2022(05):1261-1271

rectilinear

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