Open-loop Verification of Motion Planning for an Underwater Eel-like Robot.

In this paper, we perform experimental verification of open-loop motion planning for a biomimetic robotic system using our underwater eel-like robot. Our results from past work provide theoretical justification for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from experiments performed with this robot using visual position sensing in an aquatic environment show good agreement with theory. [ABSTRACT FROM AUTHOR]