Flexible and functional pectoral fin actuator for underwater robots

This research aims at the realization of the fish's pectoral fins achieving new locomotion ability of underwater robots by developing the fin actuators that are flexible and functional themselves. From the view point of fin motion, the fin actuators are classified into two types; rowing motion and flapping. The rowing motion is realized by passive fin. It is formed with silicone rubber and generates propulsive power by drag of the fin's motion. This fin was found to work successfully by underwater experiments. The flapping motion is realized by active fin. It is the silicone's fin with built-in FMA (flexible micro actuator) and generates propulsive power by fin's motion driven by FMA. In driving experiments of the fin were made in air and water, it was found to work successfully.