Abstract
In this research, we have developed a swimming robot with a fluttering kick with two legs, which can swim freely both on the surface of water and under water. We have established a control method for all the different types of motion of this robot, e.g., swimming in a straight line, turning, diving, or rising up in the water. Furthermore, by optimizing the three-dimensional action of this underwater robot, we can expect an improvement in its performance for complex work.
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References
Colgate JE, Lynch KM (2004) Mechanics and control of swimming. A review. IEEE J Oceanic Eng 29(3):660–673
Yamamoto I, Terada Y (1995) Propulsion system with flexible/rigid oscillating fin. IEEE J Ocean Eng 20(1):23–30
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This work was presented in part at the 15th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2010
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Li, Y., Shimizu, E. & Ito, M. Development of a humanoid robot for underwater use. Artif Life Robotics 15, 551–554 (2010). https://doi.org/10.1007/s10015-010-0865-9
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DOI: https://doi.org/10.1007/s10015-010-0865-9