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A study on the propulsive motion characteristics of 3-joint fish robot

We derived a dynamic motion equation of fish robot with 3-joints to analyze the propulsive motion characteristics according to the parameters variation of input torque function. Then, the parameters of input torque function are optimized by Genetic Algorithm (GA). And a fish robot with 1.2m length, 0.18m width and 0.18m height is developed for experiments. Finally, the dynamic motion equation of fish robot is verified by comparing the responses of simulation and experimental results for the input torque functions.