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Coordinated Dual-Fin Actuation of Bionic Ocean Sunfish Robot for Multi-Modal Locomotion
Lidong Huang1,2, Zhong Huang1,2, Quanchao Liu1,2
1School of Information and Communication Engineering, Hainan University, Haikou 570228, China.
Biomimetics (Basel, Switzerland)
|August 27, 2025
Summary
This study introduces a bionic dual-fin robot mimicking the ocean sunfish. Its simple design achieves complex underwater maneuvers like high-speed cruising and 3D agility using advanced fin control.
Area of Science:
- Robotics
- Biomimetics
- Fluid Dynamics
Background:
- Traditional underwater robots often require complex mechanisms for maneuverability.
- Mimicking natural swimmers offers a pathway to simpler, more efficient robotic designs.
Purpose of the Study:
- To develop a mechanically simple bionic underwater robot capable of complex 2D and 3D motions.
- To demonstrate advanced control strategies for a dual-fin propulsion system inspired by the ocean sunfish.
Main Methods:
- Designing a robot with two vertically arranged, independently controlled fins.
- Implementing advanced control algorithms to achieve multi-modal locomotion.
- Experimentally analyzing swimming performance using visual measurements and onboard sensors.
Main Results:
- The dual-fin robot achieved a maximum cruising speed of 1.16 body lengths per second (BL/s).
- Demonstrated high stability with a yaw amplitude of less than 4.2 degrees.
- Exhibited full 3D maneuverability, including a minimum turning radius of 0.89 BL.
Conclusions:
- A minimalist dual-fin propulsion system can achieve versatile and high-performance underwater locomotion.
- Advanced control strategies enable complex movements without auxiliary actuators.
- The ocean sunfish-inspired design presents a promising platform for robust and versatile underwater robots.
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