Development of a Sea Bream Shaped Robot Imitating a Real Fish driven by Snap-Through Buckling

Abstract

In this study, we have focused on the high maneuverability of fish, such as rapid turning and acceleration, and aim to develop a fish-type robot that can perform such movements in the water. In a previous study, a fish-type robot was developed using snap-through buckling and successfully swam. However, the achievement of high-mobility swimming required an increasing swimming speed and a more fish-like shape. In this paper, a fish-shaped robot was developed based on data from scans of a real sea bream. In order to increase the swimming speed, the robot was equipped with a continuous snap-through buckling mechanism. The results of the swimming experiments showed that the developed robot successfully swam, but it was also found that some parts of the continuous snap-through buckling mechanism and the control mechanism of the elastic body needed to be improved to increase the swimming speed.