Abdolrasool Mayahi - Advanced Dynamic and Control Systems Lab School of Mechanical Engineering, University of Tehran
Aghil Yousefi-Koma - Advanced Dynamic and Control Systems Lab School of Mechanical Engineering, University of Tehran
Hesam Maleki - Advanced Dynamic and Control Systems Lab School of Mechanical Engineering, University of Tehran

A fish-like propulsion system seems to be a helpful and efficient alternative for propelling in micro underwater vehicles (MUV). This paper present a Modeling, biomimetic design and fabrication of a small underwater robot driven by an oscillating foil. In order to get an underwater robot with high performance, the swimming method of some types of fish was studied and the mathematical and hydrodynamical model of a Bonito fish was extracted. It has the biggest ratio of velocity per length along the fish. Employing servomotors, oscillating mechanism, latex shell and plexy tail, a model of fish-robot has been fabricated and tested.

Micro Underwater Vehicle (MUV), Biomimetic Design, Robo-Fish, Fish Propulsion, Hydrodynamic Analysis