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Robotics and Biomimetics
Figure 8 | Robotics and Biomimetics

Figure 8

From: Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

Figure 8

Trajectory traversal between two fixed points using different oscillatory/undulatory wave functions. (a-d) Plotted trajectories for wave function of oscillating sine, undulatory Lighthill quadratic, Lighthill cubic, and NURB quadratic wave in the form of geometric points on the traveling plane of the robotic fish. (e-h) Trajectory details in the form of geometric points tabulated for mathematical input function of undulatory NURB cubic, SINC, DIRIC, and anguilliform waveforms.

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