在自然界中，生物為達成高效率與高機動性的運動，需不盲目地使用肌肉力量，並在善用與環境互動的狀況下以最佳的方式發揮身體彈性與慣性的動態。依此觀點來看，一般仿生機械魚透過致動器直接驅動魚尾達到擺尾推進之目的，與魚類運動模式有所出入。因此本研究對仿生機械魚的研究文獻進行分析，並對機械魚的仿生運動與實現方法進行研究，進而提出振動吸收器之新概念應用於擺尾推進的運動模式。而其控制策略主要是運用彈簧的特性，激發系統模態，使得魚體振動情形減小而魚尾擺動幅度增大，來達到擺尾推進之目的。此種控制方式不需要規畫複雜的運動軌跡，也不需要計算龐大的反向動力學，由於共振現象的應用，期望有別於全致動驅動的方式，達到省能與高效率仿生機械魚之目的。

[1] K. Streitlien, et. Al., “Efficient Foil Propulsion Through Vortex Control, ” AIAA Journal, Vol.34, 1996, pp. 2315-2319.
[2] http://www.dac.neu.edu/msc/burp.html
[3] http://www.nmri.go.jp/eng/khirata/fish
[4] http://www.akibalive.com/archives/000269.html
[5] J. Liu and H. Hu “Development of Fish-like Swimming Behaviours for an Autonomous Robotic Fish,” IEE, Proceedings of the Control 2004, ID217
[6] J. Liu and H. Hu “Novel Mechatronics Design for a Robotic Fish,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, 2005, pp2077-2082.
[7] J.Liu and H. Hu. “Mimicry of Sharp Turning Behaviours in a Robotic Fish,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005.pp3329-3334.
[8] J.Liu and H. Hu. “Building a 3D Simulator for Autonomous Navigation of Robotic Fishes,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, pp613-618.
[9] M. J. Lighthill,” Note on the swimming of slender fish,” J. Fluid Mech., Vol.9, 1960,pp.305-317.
[10] J. Yu, el al. “Development of a Biomimetic Robotic Fish and Its Control Algorithm,” IEEE Trans. On Sys. Man. And Cyber. Vol. 34, No. 4. Aug. 2004, pp. 1798~1807.
[11] S. D. Kelly, and R. M. Murry, “Modelling efficient pisciform swimming for control,” Int. J. Robust Nonlinear Control, 2000: 10:217-241.
[12] K. Morgansen, et. Al. “Trajectory Stabilization for a Planar Carangiform Robot Fish,”Proceedings of the 2002 IEEE International Conference on Robotics & Automation Washington, D.C., May, 2002, pp. 756~762.
[13] Bozkurttas, M, Dong, H., Mittal, R., Madden, P., Lauder, G., “Hydrodynamic performance of deformable fish fins and. flapping foils,” AIAA 2006-1392, Reno, Nevada
[14] http://www.seattlerobotics.org/encoder/200211/autonomous_robotic_fish.html
[15] http://www.neurotechnology.neu.edu/burp.html
[16] http://www.mech.uwa.edu.au/bjs/Vibration/TwoDOF/Absorbers/default.html
[17] http://www.sciscape.org/articles/fish_swim/index.html
[18] http://www.kondo-robot.com/index.html
[19] http://fishdb.sinica.edu.tw/~fishdmp/fhNormal/page02-a3i/f02a3i.htm
[20] J.P. DEN HARTOG, Mechanical Vibration, DOVER, 1984.