Locomotion Energy Consumption Model for Robotic Fish with Caudal Fin Propulsion

The locomotion has become one of the important contributions to total energy consumption of robotic fish. Energy consumption generated by locomotion affects the cruising capability of robotic fish seriously. In the case of keeping the cruising velocity constant, a locomotion energy consumption model is proposed based on a classic dynamic model for robotic fish propelled by caudal fin. At first, the velocity model and propulsion model are derived by exploring the dynamic model of robotic fish. Secondly, the relationship between the locomotion energy consumption and the pendular parameters of caudal fin, including the frequency, amplitude and bias is established. Finally, the simulations based on the proposed model and the related experiments are executed. The results show the relative errors of the locomotion energy consumption are less than 5% under different motion parameters by comparing the simulation results with experimental ones and the proposed model is effective.