Abstract
Abstract The swimming motion of Tuna type fishes has excellent ability for its speed and efficiency. Many studies are conducted for Tuna or Dolphin swimming motion, and some motion schemes are proposed. But, many of developed swimming robots have spring held tail fin, and it moves passively by the force of flowing water. Therefore, our target is to develop swimming robot which has actively driven tail fin, so as to verify former studies in the meaning of drive efficiency. This paper shows the detail of our prototype swimming robot which was made to evaluate motion control system.
