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.

SegmentMaximumMinimum

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