Analysis and implementation of swimming backward for biomimetic carangiform robot fish

The swimming backward for biomimetic carangiform robot fish is analyzed and implemented in this paper. The swimming law of the carangiform robot fish is modified according to the European Eel swimming mode based on the multiple-link structure to implement the backward motion. The motion mode difference between the eel and carangiform fish is discussed, and a qualitative kinematic analysis of the carangiform swimming in water is given to analyze the propulsion produced by the undulation of the multi-links tail. The experiments conducted demonstrate the good performance of the proposed method, and the results are given.