Research Article
Mechanical Description of a Hyper-Redundant Robot Joint Mechanism Used for a Design of a Biomimetic Robotic Fish
Table 2
The results of the amplitude variation of the tail sections.
| Segment | Maximum | Minimum |
| 1 (close to base) | ~10° from center | ~5° from center | 2 (middle) | ~45° from center | ~10° from center | 3 (attached to tail fin) | ~90° from center | ~45° from center |
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