iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion

This paper presents a newrobotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the fullbody length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.