Swimming Backward of a Biomimetic Carangiform Robot Fish
仿鲹科机器鱼的倒退游动控制

This paper proposes a novel backward-swimming method of biomimetic carangiform robot fish based on its body and tail undulation.The motion law of the carangiform robot fish is modified according to the backward-swimming law of Eu- ropean eel to achieve the backward-swimming motion of the robot fish.A qualitative kinematic analysis of the robot fish swimming in water is given to analyze the propulsion produced by the undulation of the multi-link tall and the backward- swimming method.Combining with other motions,the ap- proach of the turning in backward-swimming and the emergency stop are given.Experimental results of the robot fish's motion are given and the performance is analyzed.