Open-Source Bionic Robotic Fish for Underwater Research and Swarm Robotics
The Shark680 is an open-source bionic robotic fish platform for underwater robotics research, education, environmental observation and multi-robot experiments.
Inspired by the body structure and swimming mechanism of fish, the platform combines a streamlined biomimetic body, multi-joint propulsion, buoyancy adjustment and programmable control.
More importantly, multiple Shark680 robots can operate as a coordinated robotic fish swarm. Through positioning, communication and swarm-control technologies, individual robots can exchange information, make local decisions and work together to perform underwater tasks.
This makes the platform suitable not only for studying a single underwater robot, but also for exploring multi-robot coordination, distributed control and swarm intelligence in aquatic environments.
A Biomimetic Robot Inspired by Fish Locomotion
Unlike conventional underwater robots that mainly depend on propellers, Shark680 uses a fish-inspired body and oscillating propulsion mechanism.
Its exterior is modeled after the streamlined profile of a shark, helping reduce hydrodynamic resistance while providing a more natural form of underwater locomotion.
A three-joint oscillating structure enables the robot to reproduce fish-like swimming motions and maneuver flexibly in aquatic environments.
This biomimetic approach is particularly useful for research involving:
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robotic fish locomotion
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underwater maneuvering
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biomimetic propulsion
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hydrodynamics
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autonomous aquatic robots
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multi-robot underwater systems
Key Design Advantages
Fish-Inspired Body Design
A streamlined shark-like body reduces resistance during underwater movement and supports agile swimming.
Three-Joint Motion Mechanism
The articulated body enables flexible fish-like oscillation and maneuvering.
High Maneuverability
The robot is designed to navigate constrained underwater environments, avoid obstacles and support positioning and exploration tasks.
Adjustable Buoyancy
Internal mechanical adjustment changes the relationship between the robot's center of gravity and center of buoyancy, allowing the robotic fish to dive or rise.
Adjustable Diving and Surfacing
Shark680 incorporates an internal buoyancy-control mechanism for vertical motion.
By mechanically adjusting the robot's internal center of gravity relative to its buoyancy center, the robotic fish can control whether it dives or rises.
This provides a mechanical approach to underwater depth adjustment and expands the range of experiments that can be performed with the platform.
For researchers, it enables studies involving:
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depth control
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underwater motion control
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buoyancy and stability
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three-dimensional aquatic navigation
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autonomous underwater behavior
Open-Source Platform for Secondary Development
One of the most important characteristics of Shark680 is its focus on research and secondary development.
The platform provides programming and communication interfaces that allow developers to build customized control algorithms and extend the robotic fish for different research projects.
Development Support
Programming Languages
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C++
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Python
Robotics Framework
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ROS
Connectivity
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USB
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Wi-Fi
Development Resources
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Open-source code repository
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Programming interfaces
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Development examples
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User tutorials
The open architecture makes the platform suitable for researchers who want to develop their own algorithms instead of working with a closed proprietary control system.
Potential development topics include autonomous navigation, formation control, computer vision, multi-agent coordination, localization and intelligent underwater behavior.
From One Robotic Fish to an Intelligent Swarm
The Shark680 platform can be extended from individual robot control to a multi-robot fish swarm system.
Each robotic fish has its own decision-making capability and can adjust its position and speed according to commands, environmental information and the state of nearby robots.
Instead of treating every robotic fish as an isolated device, the swarm system allows multiple robots to exchange information and coordinate their behavior.
This creates a research platform for investigating how autonomous underwater robots can collaborate as a group.
The swarm-control architecture combines four major components:
01. Positioning System
The system can use optical positioning and supports different positioning configurations to provide robot location information to the control system.
02. Swarm Control Unit
The swarm-control unit processes positioning and mission information, generates control commands and coordinates the movement of multiple robotic fish.
03. Communication System
Communication devices connect the control system with individual robots and enable the exchange of control commands and robot information.
04. Robotic Fish
Each robotic fish executes its assigned commands while responding to its surrounding environment and other members of the swarm.
Together, these components form an integrated positioning–decision–communication–execution architecture for underwater multi-robot experiments.
Key Technologies Behind the Robotic Fish Swarm
Collaborative Decision-Making
Robotic fish exchange information through control and communication technologies.
Based on shared information, individual robots can coordinate decisions according to environmental changes and task requirements.
This enables the swarm to adapt its behavior instead of relying entirely on predefined trajectories.
Distributed Control
Each robotic fish retains a degree of autonomous decision-making capability rather than depending completely on a single centralized controller.
This distributed architecture allows the swarm to adjust formations and behaviors in changing aquatic environments, providing greater flexibility for multi-agent robotics research.
Dynamic Task Allocation
The swarm can adjust robot organization and task assignment according to changes in the mission and environment.
Dynamic allocation helps reduce duplicated work, improve resource utilization and maintain coordinated operation as conditions change.
Together, these capabilities provide a useful experimental foundation for studying:
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swarm robotics
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distributed artificial intelligence
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multi-agent systems
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cooperative control
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autonomous underwater robotics
Frequently Asked Questions
What is the Shark680 robotic fish?
Shark680 is an open-source biomimetic underwater robot designed around fish-inspired locomotion. It uses an articulated body structure for swimming and can be used for robotics research, education, underwater experiments and multi-robot swarm research.
Is the Shark680 an open-source robotic platform?
Yes. The platform is designed for secondary development and provides open development resources and programming interfaces for robotics research.
Which programming languages does the robotic fish support?
The development environment supports C++ and Python, and the platform also supports ROS for robotics development.
Can multiple robotic fish work together?
Yes. Multiple robotic fish can form a swarm system using positioning, communication and swarm-control technologies. The system supports coordinated control, information sharing and task allocation among multiple robots.
How does the robotic fish dive and surface?
The platform adjusts its internal mechanical configuration to change the relationship between its center of gravity and center of buoyancy, enabling controlled diving and surfacing.
What research can be conducted with a robotic fish swarm?
Typical research topics include multi-agent systems, cooperative control, distributed control, formation behavior, autonomous navigation, localization, swarm robotics and underwater robot coordination.
Can the platform be used for robotics education?
Yes. Its open development environment and visible biomimetic locomotion make it suitable for teaching robotics, control, programming, underwater robotics and multi-robot systems.
What are typical applications for a bionic robotic fish?
Potential applications include robotics education, underwater biological research, fluid-dynamics research, environmental monitoring, underwater exploration and robotics exhibitions.