Biomimetic Mantaray Robot Toward the Underwater Autonomous - Experimental Verification of Swimming and Diving by Flapping Motion
🤖 AI Summary
This study addresses the challenge of minimizing seabed sediment disturbance caused by conventional propeller-driven underwater robots, which hinders low-impact autonomous operations in ecologically sensitive aquatic environments. To this end, the authors present a bioinspired manta ray–like underwater robot that integrates a flapping-fin propulsion mechanism with a lightweight embedded control system for the first time. The robot employs servo motors to actuate flexible pectoral fins and leverages a Raspberry Pi 3B platform to fuse data from an inertial measurement unit (IMU) and a pressure sensor, enabling stable swimming and diving via a PD control algorithm. Pool-based experiments demonstrate that the robot achieves efficient locomotion with minimal environmental disturbance, making it well-suited for applications in settings such as aquariums and fish hatcheries where low hydrodynamic interference is critical.
Application Category
📝 Abstract
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance and enhance efficiency compared to traditional screw propulsion. The robot features pectoral fins driven by servo motors and a streamlined control box to reduce fluid resistance. The control system, powered by a Raspberry Pi 3B, includes an IMU and pressure sensor for real-time monitoring and control. Experiments in a pool assessed the robot's swimming and diving capabilities. Results show stable swimming and diving motions with PD control. The robot is suitable for applications in environments like aquariums and fish nurseries, requiring minimal disturbance and efficient maneuverability. Our findings demonstrate the potential of bioinspired robotic designs to improve ecological monitoring and underwater exploration.
Problem
Research questions and friction points this paper is trying to address.
biomimetic robot
underwater autonomous exploration
flapping propulsion
minimal seabed disturbance
efficient maneuverability
Innovation
Methods, ideas, or system contributions that make the work stand out.
biomimetic robot
flapping propulsion
underwater autonomy
manta ray-inspired design
PD control
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