RoboTuna

	Robotuna is designed to mimic the shape and motion of a small tuna. It is controlled by six powerful servomotors (rated at 2 horsepower each) and has force sensors placed at various locations along the path of the controlling tendons. The carriage is towed through the water and swimming efficiency is calculated from the forces on the tendons.  MIT's RoboTuna story
RoboTuna was designed and build by David Barrett for his doctoral thesis.
	The Dream ...
More pictures

• Animal Locomotion. James Gray. Weidenfeld & Nicolson, 1968.
• Swimming and Flying in Nature, Vol. 2. Edited by Theodore Y. T. Wu, C. J. Brokaw and Christopher Brennen. Plenum Press, 1975.
• Locomotion by Scombrid Fishes: Hydromechanics Morphology and Behavior. J. J. Magnuson in Fish Physiology. Edited by W. S. Hoar and D. J. Randall. Academic Press, 1978.
• Optmal Thrust Development in Oscillating Foils with Application to Fish Propulsion. G. S. Triantafyllou, M. S. Triantafyllou and M. A. Grosenbaugh in Journal of Fluids and Structures, Vol. 7, No. 2, pages 205-224; February 1993
• Active Vorticity Control in a Shear Flow Using a Flapping Foil. R. Gopalkrishnan, Michael S. Triantafyllou, George S. Triantafyllou and David Barrett in Journalof Fluid Mechanics, Vol. 274, pages 1-21; September 10, 1994