Prototype modeling
3D underwater eel robot

The main aims of project modelling are:

• orient and dimension the design of the prototype ;

• update simple models dedicated to control ;

• as a sideline, generate general knowledge about fish locomotion.

It is divided into two parts: "solid" and "fluid". Each of these two parts is then broken down into three hierarchical models, from "macro" to "micro". This hierarchical approach enables us to control modeling from the finest to the coarsest level, and to transfer the lessons learned at one level upwards or downwards to all the others, with a view to prototype design and commissioning. As far as the "solid" aspect is concerned, the modeling of the prototype can be broken down as follows:

• macrocontinuous...