Modeling of IPMC-actuated Robotic Fish

IPMCs have been proposed for a number of biomedical and robotic applications [Chen et al. (2007a) Kamamichi et al. (2006) Shahinpoor and Kim 

As an example of modeling IPMC-based robotic systems, in this section we present a model for robotic fish propelled by an IPMC caudal fin. The model captures the intrinsic actuation dynamics of IPMCs, as presented in Section 4.2, and the complex hydrodynamic interactions between the IPMC, fluid, and a passive attachment for enhancing propulsion. Given 

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