The swimming motion of Tuna type fishes has excellent ability in its speed and efficiency. On the other hand, some studies on the most efficient swimming motion have been reported using numerical analysis of a two-point hinge mechanism model. However, since most conventional fish robots hold their caudal fin in a spring, the caudal fin works only passively and can not confirm theoretical results in an experimental way. Therefore, we developed a fish type robot that combines caudal fin angle actuating mechanism and tail oscillating mechanism. Using this robot, we experimentally investigated the change in swimming speed due to the difference in swimming motion.
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