Robotuna is designed to mimic the shape and motion of a small tuna. It
is controlled by six powerful servomotors (rated at 2 horsepower each)
and has force sensors placed at various locations along the path of
the controlling tendons. The carriage is towed through the water and
swimming efficiency is calculated from the forces on the tendons.
RoboTuna was designed and built by David Barrett for his doctoral
MIT's RoboTuna story (a 1996 press release)
Pictures of Charlie I