A study on control method for a fish type robot by artificial muscle

This paper deals with development of a motion control method for fish type robots using a mechanism composed of a shape-memory alloy type artificial muscle and a robotic mechanism which mimics the swimming motion of a subcarangiform fish. The characteristics of the motion mechanism were first examined by model experiments and the swimming performance of the robot was tested in an experimental tank. The effectiveness of the motion mechanism was examined based on the experimental results using motion pictures taken by a digital video camera. Control techniques for the robot to realize forward movement and sudden acceleration were developed based on the results of observed fish motions.