Development and Motion Testing of a Robotic Ray

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/791865/figures/791865.fig.0017a.svgz" name="791865.fig.0017a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Constant fin ray length</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/791865/figures/791865.fig.0017b.svgz" name="791865.fig.0017b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Constant fin area</td></tr></table>

<div>Relationship between averaged propulsion velocity and fin ray angle.</div>

Journal of Robotics

fig17

Figure 17

Figure 17: Development and Motion Testing of a Robotic Ray 