• Underwater Robotics
• Underactuation.
• Robotic Fish
• Biorobotics
• Bionics
• Biomimetics
• Aquatic Ecology

The idea was to develop a biomimetic fish research platform, that is modular, easily manufactured and can be extended or modified to adapt various needs of the research under consideration. The envisioned system was realised through careful modeling and iterative design approach to optimize for rapid manufacturing technique. The manufacturing technique used was Fused deposition modeling (FDM) based 3D printing, which is the most widespread and least expensive technique to develop plastic parts. The heart of the system is the non-blocking transmission system which employs magnetic field interaction of permanent magnets. It converts the rotary motion of the motor into a oscillatory motion. This oscillating system along with the wire-driven mechanism of the tail, generates the required traveling wave in the robotic fish. A complete swimming robotic fish measuring 180 mm in length was developed which was able to maintain the correct posture and neutral buoyancy in water. Multiple experiments were conducted to test the performance of the designed robotic fish.