Flexible and functional pectoral fin actuator for underwater robots

Satoshi Endo, Koichi Suzumori, Takefumi Kanda, Naomi Kato, Hiroyoshi Suzuki, Yoshito Ando

Research output: Contribution to conferencePaperpeer-review


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.

Original languageEnglish
Number of pages4
Publication statusPublished - Dec 1 2005
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: Aug 8 2005Aug 10 2005


OtherSICE Annual Conference 2005


  • Active fin
  • Flexible and Functional
  • Passive fin
  • Pectoral fin

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Flexible and functional pectoral fin actuator for underwater robots'. Together they form a unique fingerprint.

Cite this