Pectoral fins play an important role in the locomotion and maneuvering of robotic fish.
Considering the cyclic nature of typical actuation modes, it is of interest to develop a
dynamic average model that is amenable to controller design, where the control inputs are
actuation pattern parameters. In this work, we propose a scaling-based approach to develop
a nonlinear dynamic average model for a robotic fish propelled by a pair of rowing pectoral
fins. In particular, the fin-generated hydrodynamic forces and moment, modeled using blade …