Design & Development of Robotics Fish (Capstone Project)

Dapeng Wang, Bowen Su, Wentao Jiangm, Hui Tang

  • A robotic fish with simple structure could achieve multi-dimensional motions based on an open-scourced design-"OpenFish".(Sander C.van den Berg et.al.).

  • Supervised by Dr. Hui Tang.

  • This fish could achieve functions of thrusting, simple turning, lifting & diving.

  • My contributions:
    • Successfully derive the dynamics model of lifting & diving functions and fish tail.
    • Signal Processing in feedback control of lifting & diving
    • Design and Build offline Kalman Filter for thrust speed control and altitude management

  • Reveived A+ in Final Assessment Results.

Demo video