As a result of years of research on the comparative biomechanics and physiology of moving
through water, biologists and engineers have made considerable progress in understanding …

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the
body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency …

In this paper, techniques from geometric mechanics and geometric nonlinear control theory
are applied to modeling and construction of trajectory tracking algorithms for a free …

The ocean and human activities related to the sea are under increasing pressure due to
climate change, widespread pollution, and growth of the offshore energy sector. Data, in …

The aim of this work is to investigate alternative designs for machines intended for
biomimetic locomotion in liquid environments. For this, structural compliance instead of …

The compliance of a fin affects the thrust of underwater vehicles mimicking the undulatory
motion of fish. Determining the optimal compliance of a fin to maximize thrust is an important …

We simulate, validate and analyze the performance of a transformable tail of an adaptive
robotic fish based on the propulsion of three bio-inspired body deformations similar to those …

The study of fish locomotion provides a rich source of inspiration for the design of robotic
devices. Fish exhibit an array of complex locomotor designs that involve both diversity of …

This paper focuses on the design of fishlike underwater robots using an optimization
approach to choose relative link lengths. Considering both ichthyologic characteristics and …

In this paper we present a new application of the methodology our group is developing to
design and prototype under-actuated biomimetic robots by determining appropriate body …