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Robotics 2015, 4(4), 421-434; doi:10.3390/robotics4040421

Performance of Very Small Robotic Fish Equipped with CMOS Camera

Graduate School of Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka 558-8585, Japan
Author to whom correspondence should be addressed.
Academic Editors: Ingrid Schjølberg and Thor I. Fossen
Received: 28 July 2015 / Revised: 24 September 2015 / Accepted: 16 October 2015 / Published: 22 October 2015
(This article belongs to the Special Issue Underwater Robotics)
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Underwater robots are often used to investigate marine animals. Ideally, such robots should be in the shape of fish so that they can easily go unnoticed by aquatic animals. In addition, lacking a screw propeller, a robotic fish would be less likely to become entangled in algae and other plants. However, although such robots have been developed, their swimming speed is significantly lower than that of real fish. Since to carry out a survey of actual fish a robotic fish would be required to follow them, it is necessary to improve the performance of the propulsion system. In the present study, a small robotic fish (SAPPA) was manufactured and its propulsive performance was evaluated. SAPPA was developed to swim in bodies of freshwater such as rivers, and was equipped with a small CMOS camera with a wide-angle lens in order to photograph live fish. The maximum swimming speed of the robot was determined to be 111 mm/s, and its turning radius was 125 mm. Its power consumption was as low as 1.82 W. During trials, SAPPA succeeded in recognizing a goldfish and capturing an image of it using its CMOS camera. View Full-Text
Keywords: small robotic fish; swimming; freshwater fish photography; phase difference; propulsive performance small robotic fish; swimming; freshwater fish photography; phase difference; propulsive performance

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zhao, Y.; Fukuhara, M.; Usami, T.; Takada, Y. Performance of Very Small Robotic Fish Equipped with CMOS Camera. Robotics 2015, 4, 421-434.

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