Efficient thrust generation in robotic fish caudal fins using policy search

摘要: Thrust generation is a crucial aspect of fish locomotion that depends on variety morphological and kinematic parameters. In this work, the kinematics caudal fin motion robotic are optimised experimentally. The actuates its with flapping rotation motion, also measures hydrodynamic force torque. Total nine designs fins investigated, three different shapes (or inclination angles) stiffness. optimisation based policy search (PS) algorithm, which used to maximise thrust-generation efficiency fins. authors first parametrise spanwise-rotation as sinusoidal function using amplitude phase delay test whether it beneficial efficiency. result shows does not contribute efficiency, maximised at zero amplitude. Next, optimise trajectory profile without rotation. Results show smaller results in higher linear trajectories preferred over ones. Fins have highest flexibility more efficient thrust although they generate less thrust, while an angle 30° yields most shape.