Abstract
With the upsurge of marine research coming, research of the bionic fish robot is imperative. In numerous kinds of fish, batoid as the representative of the undulating pectoral fins fish are characterized by maneuverability which adapted to the complex underwater environment. This paper establishes entity model, kinematics model and dynamic model of batoid, uses means of numerical simulation to realize batoid turning in the water , and then plans turning motion of batoid. For this simulation, trajectory which is very close to the turning of real batoid is obtained to prove our modeling and simulation correct.
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