Work

Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability

Year: 2025

Type: article

Abstract: The integration of biomimetic pectoral fins into robotic fish presents a promising approach to enhancing maneuverability, stability, and braking efficiency in underwater robotics. This study investigates a 1-DOF (degree of freedom) pectoral fin mechanism integrated into the SpineWave robotic fish. Through force measurements and particle image velocimetry (PIV), we optimized control parameters to improve braking and turning performances. The results show a 50% reduction in stopping distance, significantly enhancing agility and control. The fin-assisted braking and turning modes enable precise movements, making this approach valuable for autonomous underwater vehicles. This research lays the groundwork for adaptive fin designs and real-time control strategies, with applications in underwater exploration, environmental monitoring, and search-and-rescue operations.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13071295

Authors: Qu He, Yunpeng Zhu, Weikun Li, Weicheng Cui, Dixia Fan

Institutions: Westlake University, Zhejiang University

Language: English

Topic: Biomimetic flight and propulsion mechanisms

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Natural Science Foundation for Young Scientists of Shanxi Province