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

Robotics and Biomimetics

Table 2 Trajectory (geometric) points for mathematical oscillatory/undulatory propulsive waveforms

	NURB cubic		SINC		DIRIC		Anguilliform
	xpos	ypos	xpos	ypos	xpos	ypos	xpos	ypos
1 (start point)	0.500000	0.029700	0.500000	0.029700	0.500000	0.029700	0.500000	0.029700
2	0.603409	0.055233	0.635629	0.162066	0.635703	0.162282	0.635182	0.160746
3	0.728721	0.208521	0.767983	0.245970	0.768066	0.246040	0.767476	0.245543
4	0.830356	0.271654	0.853999	0.283398	0.854045	0.283419	0.853722	0.283270
5	0.881458	0.293319	0.889869	0.296513	0.889884	0.296518	0.889780	0.296480
6	0.897237	0.299041	0.898814	0.299597	0.898817	0.299598	0.898800	0.299592
7	0.899771	0.299921	0.899912	0.299970	0.899912	0.299970	0.899911	0.299970
8	0.899984	0.299995	0.899994	0.299998	0.899994	0.299998	0.899994	0.299998
9 (end point)	0.900000	0.300000	0.900000	0.300000	0.900000	0.300000	0.900000	0.300000