Optimization of a passive roll absorber for robotic fish based on tune mass damper

The robotic fish utilizes a bio-inspired undulatory propulsion system to achieve high swimming performance. However, significant roll motion has been observed at the head when the tail oscillates at certain frequencies, adversely affecting both perception accuracy and propulsion efficiency. In this paper, the roll torque acting on the robotic fish is theoretically analyzed and decomposed into gravitational, inertial, and hydrodynamic components. Resonance is identified as a key factor amplifying the roll response. To mitigate this roll and enhance stability, a passive roll absorber based on tuned mass damper is designed. A simplified rolling structure is dynamically modeled to optimize absorber parameters. Experiments are conducted to quantify the roll torque experienced by the robotic fish, with the effectiveness of the absorber verified on both the simplified model and the robotic fish. Results show that the maximum roll angle of the simplified system under harmonic load decreases from 98 degrees to 29 degrees, representing a reduction of over 70%, while a 25.1% reduction is achieved on the robotic fish.