A Bioinspired Cownose Ray Robot for Seabed Exploration.

Area of Science:

• Robotics
• Bio-inspired Engineering
• Fluid Dynamics

Background:

• Cownose rays (Rhinoptera bonasus) exhibit efficient underwater locomotion through pectoral fin undulation.
• This natural swimming mechanism relies on generating traveling waves to conserve momentum.
• Robotic systems can benefit from emulating these biological principles for improved maneuverability.

Purpose of the Study:

• To design and test a bio-inspired robot that replicates the cownose ray's fin-based propulsion.
• To validate the effectiveness of a flexible fin design actuated by a traveling wave motion.
• To assess the robot's ability to perform various underwater maneuvers.

Main Methods:

• A robot was constructed with a rigid central body and flexible silicone pectoral fins.
• Servomotors actuated links within the fin's leading edge to create traveling waves.
• Underwater experiments were conducted to evaluate forward swimming, turning, and depth control.

Main Results:

• The bio-inspired locomotion principle was experimentally validated.
• The robot successfully achieved forward propulsion through pectoral fin actuation.
• The robot demonstrated capabilities for turning, floating, and diving maneuvers.

Conclusions:

• The study confirms the viability of bio-inspired robotic swimming based on cownose ray kinematics.
• Flexible pectoral fins actuated by traveling waves are effective for underwater propulsion.
• The developed robot shows potential for versatile underwater applications requiring agile movement.