Design of3DSwimPatterns forAutonomous Robotic Fish

Torealise fish-like swimpatterns byarobotic system posestremendous challenges. Thisrequires fully understanding offish biomechanics andthewaytomimic it.Thispaperpresents ourresearch toward thesensor- based control ofautonomous robotic fish that canswimin a3Dunstructured environment, based onobservations of fish swimbehaviours. Ourrobotic fish hasatail withthree orfourdegrees offreedom (DOF)andiscontrolled by4 onboard computers (apowerful Gumstix LinuxPC and3 PICs)andover10embedded sensors. Bothsimulated and therealfishexperiments areconducted toshowthe feasibility andperformance oftheproposed approach.