Biomimetic Mantaray Robot Toward the Underwater Autonomous - Experimental Verification of Swimming and Diving by Flapping Motion
Year: 2024
Type: conference-paper
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.
Authors: Kenta Tabata, Ryosuke Oku, Jun Ito, Renato Miyagusuku, Koichi Ozaki
Institution: Utsunomiya University
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Japan Science Society
OpenAlex ID: W4408223296