Zhihang Ye

Modeling of Robotic Fish Propelled by a Servo/IPMC Hybrid Tail

This paper presents modeling of robotic fish propelled by a hybrid tail with Servo and IPMC actuated two joints. The first joint is driven by a servo motor, which generates flapping motion for main propulsion. The second joint is actuated by a soft actuator, or ionic polymer-metal composite (IPMC) a…