Biomimetic Stingray-like Robotic Fish with Propulsors Based on IPMC Actuators

A swimming robot with stingray-like propulsors was developed using twelve drives based on IPMC actuators and two tail fins. The propulsor consists of an active part (six polymer actuators connected in parallel) and a passive part. Such propulsors are located on the sides in the middle of the system and make translational motions "up and down". An autonomous remote control system was developed for its control. In addition, an algorithm for the lateral fin movement was developed to make the translational motion of the robotic fish forward. The maximum motion speed of the developed system was 40 mm/s at a frequency of 0.4 Hz.