Robotic fish and its technology

The purpose of this paper is to describe the feasibility research of marine vehicles with oscillating fin propulsion control system. The oscillating fin propulsion system was designed and constructed to combine with a ship model. The system's feasibility has been confirmed by tank tests using the ship model. As a result, several advantages of the oscillating fin system have been found out. A neural network was successfully applied for an identification of the ship model dynamics with the oscillating fin, and its effectiveness was confirmed. Robotic fish, intended as an amusement attraction for aquariums, using the oscillating fin propulsion system have been developed. Its capability of untethered 3-dimensional movement was confirmed. Also, an application to underwater vehicle is mentioned.