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What is Rajiform

Chapter 7
Handbook of Research on Advancements in Robotics and Mechatronics
A kind of propulsive motion of fish included in MPF, especially seen in flat body fishes. The Propulsive force is generated by vertical undulations along large, well developed pectoral fins.
Published in Chapter:
Fundamental Control for a Manta-Like Fish Robot
Masaaki Ikeda (Universiti Sultan Zainal Abidin, Malaysia), Keigo Watanabe (Okayama University, Japan), and Isaku Nagai (Okayama University, Japan)
Copyright: © 2015 |Pages: 15
DOI: 10.4018/978-1-4666-7387-8.ch007
Abstract
This chapter analyzes a propulsive force generated from pectoral fins for a manta-like fish robot, which is one of rajiform-type fish robot in a classification of swimming mechanism of fishes, from fluid dynamics aspects. The fishes of this type swim underwater with two pectoral fins. A diving method is proposed, assuming that some front fin rays are fixed with a constant angle. The usefulness of the method is demonstrated by numerical simulations and an experiment with an actual robot system.
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