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Energy-Shaping Gait Generation for a Class of Underactuated Robotic Fish

This study explores the potential of a novel approach to use an energy-based control to produce an effective propulsive gait for a class of robotic fish in a simulation study which demonstrates the effectiveness of the approach. Furthermore, it is shown that the gaits produced would unlikely be found using geometric gait optimization. One reviewer observed: To the reviewer’s knowledge, an exploration of energy based control for producing propulsion via a robotic caudal fin is a novel topic, and one that could be important as we look for longer duration vehicle missions.