Evaluation of Balloon Fish Robot based on traveling wave equation

Recent airship robots have been made with parts similar to aquatic animal organs in order to combine the excellent swimming abilities that fish demonstrate in water with the low energy consumption that airship robots require when flying at low speeds and altitudes. One such robot is the Balloon Fish Robot (BFR). This paper is concerned with, motion simulation and parameter optimization for the BFR's propulsion efficiency, when propelled by traveling wave. Controlling expression of the BFR is based on the traveling wave equation; the equation of motion is defined through controlling and drag force equations. Comparative experiments of the BFR's forward air speed in simulation and practice were implemented to evaluate the validity of simulation. Parameters of the maximum propulsion efficiency were investigated by measuring experimental air speed, maximum frequency of the tail fin, and traveling wave.