A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyperredundant\r\njoint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows\r\nthat the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the\r\nrubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a\r\nspeed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius\r\nof 0.8m (approximately 2 times the fish body length) was achieved.
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