Note: Dynamic analysis of a robotic fish motion with a caudal fin with vertical phase differences

In this paper, a robotic fish with a caudal fin with vertical phase differences is studied, especially focusing on the energy consumption. Energies for thrusting a conventional robotic fish and one with caudal fin with vertical phase differences are obtained and compared each other. It is shown that a robotic fish with a caudal fin with vertical phase differences can save more energy, which implies the efficient thrusting via a vertically waving caudal fin. (C) 2013 American Institute of Physics. [http://dx.doi.org/10.1063/1.4795550]