Design of Fish-like Biomorphic Propulsion

One of the most important areas of robotics is the search for new solutions for the creation of biomorphic robots. This paper focuses on propulsion design for an underwater robot in a fish form factor based on the principles of soft robotics. The biomimetic robot is designed using a flexible torso and an oscillating tail, which is controlled by a DC motor optimized for speed through numerical and experimental calculations, and a servo motor that allows you to set the direction of movement. The use of a DC motor to drive the robot reduces losses compared to other oscillatory propulsion systems that are driven by one or more mi servomotors.