Kinematic Characters on C-turn Swimming of Fish-like Robot
Chen Hong,Zhu Changan,Yin Xiezhen,Xing Xiaozheng
(School of Engineering Science, University of Science and Technology of China,   Hefei, 230026, China)

Abstract: Based on the bionic research and simplified physical model of C-turn, kinematic equation of fish-like robot is established. Then the locomotor's gaits and center of mass motion are obtained, the moment of inertia and the driving moment are deduced, and dynamic model of C-turn is established. Simulating the multi-gait of forward-oscillation turn, some effects of the length and curvature of flexible body on fast-turn parameters, including track of center of mass, moment of inertia, driving moment, rotational displacement, maximum angular velocity, are analyzed. And some effective methods for improving fast-turn performances are suggested.
Keywords: C-turn, fish-like robot, kinematic equation, dynamic model, fast-turn performances.