Huang Lidong, Huang Zhong, Liu Quanchao, Song Zhihao, Shen Yayi, Huang Mengxing
School of Information and Communication Engineering, Hainan University, Haikou 570228, China.
State Key Laboratory of Marine Resources Utilization in South China Sea, Hainan University, Haikou 570228, China.
Biomimetics (Basel). 2025 Jul 24;10(8):489. doi: 10.3390/biomimetics10080489.
This paper presents a bionic dual-fin underwater robot, inspired by the ocean sunfish, that achieves multiple swimming motions using only two vertically arranged fins. This work demonstrates that a mechanically simple platform can execute complex 2-D and 3-D motions through advanced control strategies, eliminating the need for auxiliary actuators. We control the two fins independently so that they can perform cooperative actions in the water, enabling the robot to perform various motions, including high-speed cruising, agile turning, controlled descents, proactive ascents, and continuous spiraling. The swimming performance of the dual-fin robot in executing multi-modal locomotion is experimentally analyzed through visual measurement methods and onboard sensors. Experimental results demonstrate that a minimalist dual-fin propulsion system of the designed ocean sunfish robot can provide speed (maximum cruising speed of 1.16 BL/s), stability (yaw amplitude less than 4.2°), and full three-dimensional maneuverability (minimum turning radius of 0.89 BL). This design, characterized by its simple structure, multiple motion capabilities, and excellent motion performance, offers a promising pathway for developing robust and versatile robots for diverse underwater applications.
本文介绍了一种受翻车鱼启发的仿生双鳍水下机器人，该机器人仅使用两个垂直排列的鳍就能实现多种游泳动作。这项工作表明，一个机械结构简单的平台可以通过先进的控制策略执行复杂的二维和三维运动，无需辅助执行器。我们独立控制两个鳍，使其能够在水中协同动作，使机器人能够执行各种动作，包括高速巡航、敏捷转弯、受控下潜、主动上升和连续螺旋运动。通过视觉测量方法和机载传感器对双鳍机器人执行多模式运动时的游泳性能进行了实验分析。实验结果表明，所设计的翻车鱼机器人的极简双鳍推进系统能够提供速度（最大巡航速度为1.16体长/秒）、稳定性（偏航幅度小于4.2°）和完整的三维机动性（最小转弯半径为0.89体长）。这种设计结构简单、具备多种运动能力且运动性能优异，为开发适用于各种水下应用的坚固通用型机器人提供了一条有前景的途径。
