IEEE Robotics & Automation Magazine - September 2019 - 35

Fixing Rod

Marker
1

Water Tank

4

7

2

3

5

6

8

10

(b)

1

2

3

4

5

6

7

8

9

10

11

12

9

11
Spanwise
Movement

12
(a)

Chordwise
Movement

(c)

0.5
Fin-Tip Point

Middle Body

0.25

Flapping Position

Flapping Position

0.5

0

-0.25

0.25
MPT
0
-0.25
MPL
-0.5

-0.5
0

0.4

0.8
1.2
Spanwise Position
(d)

1.6

0

T/4

T/2
Time (t /T )
(e)

3T/4

T

Figure 8. The experiments for observing the motions of the bionic fish. (a) The experimental setups and the linear-forward swim, (b)
the movement of the tail fin, (c) the highly maneuverable turn, (d) the flapping motion along the spanwise direction, and (e) the
sinusoidal movement along the chordwise direction. The flapping position and the spanwise position are nondimensionalized by the
chordwise length of the fin base.

the set markers. Practically, the three marked points employed
equal flapping frequency and wavelength; the only difference
was the flapping amplitude caused by the different spanwise
positions. The phase difference between each of the two
neighboring fin rays was roughly 0.12 s. This phenomenon
was caused, collectively, by the transmission performance of
the mechanical system, the rigidity of the flexible bridge
shown in Figure 5(a), the pulling force from the outer covering skin, and the influence of hydrodynamic force.
As discussed previously, when the highly maneuverable
turn was carried out, the pectoral foils employed the most

Table 1. The experimental settings.
Camera Model

FastCam 1280 PCI

Camera speed rate (frames/s)

120

Shutter time (s)

1/500

Flapping frequency (Hz)

0.6

First linkage flapping amplitude (°)

20

Phase difference of adjacent fin rays (T)

0.1

SEPTEMBER 2019

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

35



IEEE Robotics & Automation Magazine - September 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2019

Contents
IEEE Robotics & Automation Magazine - September 2019 - Cover1
IEEE Robotics & Automation Magazine - September 2019 - Cover2
IEEE Robotics & Automation Magazine - September 2019 - Contents
IEEE Robotics & Automation Magazine - September 2019 - 2
IEEE Robotics & Automation Magazine - September 2019 - 3
IEEE Robotics & Automation Magazine - September 2019 - 4
IEEE Robotics & Automation Magazine - September 2019 - 5
IEEE Robotics & Automation Magazine - September 2019 - 6
IEEE Robotics & Automation Magazine - September 2019 - 7
IEEE Robotics & Automation Magazine - September 2019 - 8
IEEE Robotics & Automation Magazine - September 2019 - 9
IEEE Robotics & Automation Magazine - September 2019 - 10
IEEE Robotics & Automation Magazine - September 2019 - 11
IEEE Robotics & Automation Magazine - September 2019 - 12
IEEE Robotics & Automation Magazine - September 2019 - 13
IEEE Robotics & Automation Magazine - September 2019 - 14
IEEE Robotics & Automation Magazine - September 2019 - 15
IEEE Robotics & Automation Magazine - September 2019 - 16
IEEE Robotics & Automation Magazine - September 2019 - 17
IEEE Robotics & Automation Magazine - September 2019 - 18
IEEE Robotics & Automation Magazine - September 2019 - 19
IEEE Robotics & Automation Magazine - September 2019 - 20
IEEE Robotics & Automation Magazine - September 2019 - 21
IEEE Robotics & Automation Magazine - September 2019 - 22
IEEE Robotics & Automation Magazine - September 2019 - 23
IEEE Robotics & Automation Magazine - September 2019 - 24
IEEE Robotics & Automation Magazine - September 2019 - 25
IEEE Robotics & Automation Magazine - September 2019 - 26
IEEE Robotics & Automation Magazine - September 2019 - 27
IEEE Robotics & Automation Magazine - September 2019 - 28
IEEE Robotics & Automation Magazine - September 2019 - 29
IEEE Robotics & Automation Magazine - September 2019 - 30
IEEE Robotics & Automation Magazine - September 2019 - 31
IEEE Robotics & Automation Magazine - September 2019 - 32
IEEE Robotics & Automation Magazine - September 2019 - 33
IEEE Robotics & Automation Magazine - September 2019 - 34
IEEE Robotics & Automation Magazine - September 2019 - 35
IEEE Robotics & Automation Magazine - September 2019 - 36
IEEE Robotics & Automation Magazine - September 2019 - 37
IEEE Robotics & Automation Magazine - September 2019 - 38
IEEE Robotics & Automation Magazine - September 2019 - 39
IEEE Robotics & Automation Magazine - September 2019 - 40
IEEE Robotics & Automation Magazine - September 2019 - 41
IEEE Robotics & Automation Magazine - September 2019 - 42
IEEE Robotics & Automation Magazine - September 2019 - 43
IEEE Robotics & Automation Magazine - September 2019 - 44
IEEE Robotics & Automation Magazine - September 2019 - 45
IEEE Robotics & Automation Magazine - September 2019 - 46
IEEE Robotics & Automation Magazine - September 2019 - 47
IEEE Robotics & Automation Magazine - September 2019 - 48
IEEE Robotics & Automation Magazine - September 2019 - 49
IEEE Robotics & Automation Magazine - September 2019 - 50
IEEE Robotics & Automation Magazine - September 2019 - 51
IEEE Robotics & Automation Magazine - September 2019 - 52
IEEE Robotics & Automation Magazine - September 2019 - 53
IEEE Robotics & Automation Magazine - September 2019 - 54
IEEE Robotics & Automation Magazine - September 2019 - 55
IEEE Robotics & Automation Magazine - September 2019 - 56
IEEE Robotics & Automation Magazine - September 2019 - 57
IEEE Robotics & Automation Magazine - September 2019 - 58
IEEE Robotics & Automation Magazine - September 2019 - 59
IEEE Robotics & Automation Magazine - September 2019 - 60
IEEE Robotics & Automation Magazine - September 2019 - 61
IEEE Robotics & Automation Magazine - September 2019 - 62
IEEE Robotics & Automation Magazine - September 2019 - 63
IEEE Robotics & Automation Magazine - September 2019 - 64
IEEE Robotics & Automation Magazine - September 2019 - 65
IEEE Robotics & Automation Magazine - September 2019 - 66
IEEE Robotics & Automation Magazine - September 2019 - 67
IEEE Robotics & Automation Magazine - September 2019 - 68
IEEE Robotics & Automation Magazine - September 2019 - 69
IEEE Robotics & Automation Magazine - September 2019 - 70
IEEE Robotics & Automation Magazine - September 2019 - 71
IEEE Robotics & Automation Magazine - September 2019 - 72
IEEE Robotics & Automation Magazine - September 2019 - 73
IEEE Robotics & Automation Magazine - September 2019 - 74
IEEE Robotics & Automation Magazine - September 2019 - 75
IEEE Robotics & Automation Magazine - September 2019 - 76
IEEE Robotics & Automation Magazine - September 2019 - 77
IEEE Robotics & Automation Magazine - September 2019 - 78
IEEE Robotics & Automation Magazine - September 2019 - 79
IEEE Robotics & Automation Magazine - September 2019 - 80
IEEE Robotics & Automation Magazine - September 2019 - 81
IEEE Robotics & Automation Magazine - September 2019 - 82
IEEE Robotics & Automation Magazine - September 2019 - 83
IEEE Robotics & Automation Magazine - September 2019 - 84
IEEE Robotics & Automation Magazine - September 2019 - 85
IEEE Robotics & Automation Magazine - September 2019 - 86
IEEE Robotics & Automation Magazine - September 2019 - 87
IEEE Robotics & Automation Magazine - September 2019 - 88
IEEE Robotics & Automation Magazine - September 2019 - 89
IEEE Robotics & Automation Magazine - September 2019 - 90
IEEE Robotics & Automation Magazine - September 2019 - 91
IEEE Robotics & Automation Magazine - September 2019 - 92
IEEE Robotics & Automation Magazine - September 2019 - 93
IEEE Robotics & Automation Magazine - September 2019 - 94
IEEE Robotics & Automation Magazine - September 2019 - 95
IEEE Robotics & Automation Magazine - September 2019 - 96
IEEE Robotics & Automation Magazine - September 2019 - 97
IEEE Robotics & Automation Magazine - September 2019 - 98
IEEE Robotics & Automation Magazine - September 2019 - 99
IEEE Robotics & Automation Magazine - September 2019 - 100
IEEE Robotics & Automation Magazine - September 2019 - 101
IEEE Robotics & Automation Magazine - September 2019 - 102
IEEE Robotics & Automation Magazine - September 2019 - 103
IEEE Robotics & Automation Magazine - September 2019 - 104
IEEE Robotics & Automation Magazine - September 2019 - 105
IEEE Robotics & Automation Magazine - September 2019 - 106
IEEE Robotics & Automation Magazine - September 2019 - 107
IEEE Robotics & Automation Magazine - September 2019 - 108
IEEE Robotics & Automation Magazine - September 2019 - 109
IEEE Robotics & Automation Magazine - September 2019 - 110
IEEE Robotics & Automation Magazine - September 2019 - 111
IEEE Robotics & Automation Magazine - September 2019 - 112
IEEE Robotics & Automation Magazine - September 2019 - Cover3
IEEE Robotics & Automation Magazine - September 2019 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com