Research Article
Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces
Table 1
The relations between swimming gaits and control surfaces.
| Swimming gaits | Control surfaces | Control parameters |
| BCF forward | Body + caudal fin | , () | Hybrid forward | Body + caudal fin + PF | , () | MPF forward | PF | , () | MPF backward | PF | , , () | BCF turning | Body + caudal fin | , , () | MPF turning | PF and/or pelvic fin | , , () | Hybrid turning | All involved | , , () | Sideward swimming | Pelvic fin | , , () | Diving/surfacing | PF or BCF + PF | , , () | Braking | All involved | , , () |
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