305
its fi ns up and down in a plane that is roughly perpendicular to the main axis of
the body. The robotic fi sh, (Yang et al. 2008 ) (Fig. 7.13 ) based on the principle
of “likeness in shape”, is dorsoventrally fl attened without a tail, including a
main body and two pectoral fi ns. The body is made of aluminum, while the
triangular pectoral fi ns are made of elastic silica gel. The length (distance from
snout to posterior disc margin) of the robotic fi sh is 300 mm, and the span
(distance between the two fi n-tips when the pectoral fi ns are fl at) is 500 mm.
Fig. 7.13 “Cownose ray-I”
robotic fi sh mimics the
cownose ray ( Rhinoptera
bonasus ) (Reprinted from
Yang et al. ( 2009 ), Copyright
(2009), with permission from
Elsevier)
7.5 Robotic Fish-Like Devices
its fi ns up and down in a plane that is roughly perpendicular to the main axis of
the body. The robotic fi sh, (Yang et al. 2008 ) (Fig. 7.13 ) based on the principle
of “likeness in shape”, is dorsoventrally fl attened without a tail, including a
main body and two pectoral fi ns. The body is made of aluminum, while the
triangular pectoral fi ns are made of elastic silica gel. The length (distance from
snout to posterior disc margin) of the robotic fi sh is 300 mm, and the span
(distance between the two fi n-tips when the pectoral fi ns are fl at) is 500 mm.
Fig. 7.13 “Cownose ray-I”
robotic fi sh mimics the
cownose ray ( Rhinoptera
bonasus ) (Reprinted from
Yang et al. ( 2009 ), Copyright
(2009), with permission from
Elsevier)
7.5 Robotic Fish-Like Devices