Design and implementation of swimming robot based on labriform model

In this days, the field of designing swimming robot takes the interest of researchers due to its intervention in many applications that required diving processes. There are several modes of swimming mechanism like carangiform and labriform modes. In this paper, swimming robot has been designed and implemented based on labriform mode. The forward motion and control of robot direction in horizontal plane has been achieved by pectoral fins, while the swimming robot performs diving process by using center of gravity control system. Proposed swimming robot model has been graphically simulated by MATLAB, also this robot is implemented by KKmulticontroller V.5.5 development kit and several experiments have been performed in order to testing swimming robot.