Translated article: Locomotion by mechanical pectoral fins

摘要

The objectives of this study were the development of a new device for maneuvering an underwater vehicle using the mechanism of a fish swimming, an experimental and theoretical analysis of the hydrodynamic characteristics of the device, and its application to maneuvering a fish robot. Obser- vations and experimental analysis of the pectoral fins of a black bass (Micropterus salmoides) revealed that the locomo- tion of the fish, such as swimming forward at low speed, swim- ming backward, and turning in a horizontal plane is generated by using a combination of a feathering motion and a lead-lag motion of the pectoral fins.