Development and Motion Testing of a Robotic Ray

Figure 16

Influence of different undulating modes on averaged propulsion velocity. (a) The amplitude envelope is fairly constant along the fins (Mode 1). (b) The amplitude envelope gradually increased from the anterior part to the posterior (Mode 2). (c) The amplitude envelope decreases from the anterior part to the mid part and increases toward the posterior (Mode 3). (d) The amplitude envelope increases from the anterior part to the mid part and decreases toward the posterior (Mode 4).