Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots

Donghao Li,Hankun Deng,Yagiz E. Bayiz,Bo Cheng,Donghao Li,Hankun Deng,Yagiz E. Bayiz,Bo Cheng

In this work, we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robot $(\mu \text{Bot})$. Through this platform, we systematically explored the effects of robot design and fluid parameters on swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the rob...