Development and depth control of biomimetic robotic fish

This paper describes the design of a biologically inspired robotic fish which is capable of three-dimensional locomotion, and presents its depth control method. The mechanical design of the pectoral fins improves both the waterproof capability and the control precision. By adjusting the rotation angles of the pectoral fins, the robotic fish can fulfill up-and-down motion. Due to the uncertainty of the depth information measured by the pressure sensor, fuzzy logic method is applied to the depth control of the robotic fish. The experimental results on the designed prototype verify that the given method is effective in design and implementation.