Efficiency-based optimisation of a 2-DOF robotic fish model

One of the most attractive swimming characteristics of fishes is their efficient propulsion. In order to fully understand the kinematic, dynamic and fluid dynamic relationships that determine a high efficient fish, a mathematical model needs to be developed and analysed. Accordingly, in this paper, a fish robot with two degrees of freedom (DOF) is modelled. The robot’s dynamic equations of motion are presented and discussed. And the constant parameters of the equations are optimised using particle swarm optimisation (PSO) algorithm. Finally, the effects of optimised and non-optimised parameters on the robot behaviour is observed and analysed.