Robotic fish kinectics design based on a fuzzy control

Pei Jun Lee, Wen June Wang

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


This paper shows an application of fuzzy logic in designing and fabricating an intelligent robotic fish with multiple actuators which can swim freely and autonomously avoid obstacles in water. The multiple actuators on the robotic fish consist of two pectoral fins, one on each side of the fish, two tail sections, a center of gravity adjuster for the head of the fish, and a pump used to draw in or expel water. The fish can then avoid the obstacle autonomously when it approaches the obstacle. Obstacle avoidance is achieved using fuzzy control technique. As shown in the simulation and practical experiment, the path of obstacle avoidance using fuzzy control is much smoother than that using intuitive control. All of the above motion controls are implemented by FPGA with the aids of several sensors.

Original languageEnglish
Title of host publicationLatest Advances in Robot Kinematics
PublisherSpringer Netherlands
Number of pages8
ISBN (Electronic)9789400746206
ISBN (Print)9789400746190
StatePublished - 1 Jan 2012


  • FPGA
  • Fuzzy logic
  • Multiple actuators
  • Obstacle avoidance
  • Robotic fish


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