Robotic Fish


Biomimetics Lab



+(30) 210-772-3512


– Robotic Fish

– 5m Glass Water Tank


The scientific research focuses on biomimetic underwater robotic vehicles. The thrust of these underwater vehicles is caused due to oscillating fins (in contrast with today underwater vehicles which are propeller-based). Robotic fish are proved to be more efficient and easier to be controlled in low velocities. In our lab a prototype biomimetic robotic fish has been designed and coded. The fish moves with the help of a small maxon dc motor. A close-loop position control is implemented with the help of a microcontroller. It carries a small camera and has the ability to transmit video-streaming. The range of the angle and the oscillation frequency of the tail fin, as well as the direction of the fish can be controlled with the help of a GUI (graphical interface) and a transceiver.


Selected Publications

For complete publications list see here

Makrodimitris, M., Nanos, K., Papadopoulos, E., “A Novel Trajectory Planning Method for a Robotic Fish,” 25th Mediterranean Conference on Control and Automation (MED‘17), Valletta, Malta, July 3-6, 2017.

Makrodimitris, M., Aliprantis, I., and Papadopoulos, E., “Design and Implementation of a Low Cost, Pump-Based, Depth Control of a Small Robotic Fish,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS ’14), Chicago, Illinois, Sept. 14–18, 2014, USA.

Tsounis, V., Makrodimitris, M., Papadopoulos, E.“A Low Cost, Sensorless Drag Force Estimation Methodology via Current Measurements,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014),July 8-11, 2014, Besançon, France.

People Involved

RA: Robotic Fish
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