LAUSR

This letter presents an experimental study on how different body flapping patterns affect the performances of fish cruising. First, a biomimetic robot fish is designed and built as the experimental platform, which mimics the skeleton structure and the muscle arrangement of real fish. Moreover, an improved Central Pattern Generator (CPG) is developed to generate different patterns, which are characterized by four control parameters: (1) the amplitude, (2) the frequency, (3) the time ratio between the beating phase and half cycle, (4) the shape parameter. Then, a number of experiments are conducted to investigate the thrust, the recoil, the cruising speed and the swimming efficiency. Based on the experimental results, following conclusions can be drawn: (1) Fish cruising follows the traveling wave model proposed in Lighthill's Elongated Body Theory. This model offers a balance among the thrust, the recoil and the swimming speed, which results in a high efficiency. (2) The time asymmetry of the body flapping patterns reduces the thrust. (3) The triangular pattern offers the smallest recoil and the cambering sinusoidal pattern gives the largest thrust. These findings provide better understandings on how fish swims and can be used as guidelines for designing the body flapping patterns for robot fish.