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Energy Efficiency Study of an Ostraciiform Fish Robot

Wai Leung Chan, Taesam Kang


The ostraciiform swimming mode utilizes the caudal flapping to achieve piscine propulsion with turning maneuverability. The mechanism can be mimicked and implemented in underwater vehicles easily and it is necessary to know the energy efficiency of this swimming mode for durability consideration. In this research, the energy efficiency of a servo motor actuated ostraciiform fish robot was studied through power measurements. The power consumption of actuator (servomotor) was measured directly through an electronic circuit while the power dissipation in hydrodynamic drag during swimming was obtained indirectly from the swimming velocity. Different flapping frequency and amplitude settings were applied to explore the relationship between the flapping condition and efficiency.

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