Related Experiment Video
Updated: Jan 13, 2026
06:20
Flapping Soft Fin Deformation Modeling using Planar Laser-Induced Fluorescence Imaging
Published on: April 28, 2022
2.5K
Modeling and Experimental Validation of a Bionic Underwater Robot with Undulating and Flapping Composite Propulsion
Haisen Zeng1,2, Minghai Xia3, Qian Yin4
1College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China.
Biomimetics (Basel, Switzerland)
|October 28, 2025
Summary
This study introduces a bio-inspired underwater robot mimicking black ghostfish locomotion. The novel design achieves efficient propulsion and precise maneuvering, advancing autonomous underwater vehicle technology.
Area of Science:
- Robotics
- Biomimetics
- Marine Engineering
Background:
- Underwater robots are crucial for marine exploration but face challenges with environmental disturbances.
- Traditional designs struggle with obstacles like vegetation and sediment.
- Black ghostfish locomotion offers a model for resilient underwater movement.
Purpose of the Study:
- To develop a multimodal bio-inspired underwater robot platform.
- To investigate a coupled undulatory-flapping propulsion strategy.
- To enhance robot speed, maneuverability, and posture control in aquatic environments.
Main Methods:
- Examined black ghostfish locomotion mechanisms (undulatory fins and flapping wings).
- Developed kinematic and dynamic models for coordinated multi-actuator propulsion.
- Utilized computational fluid dynamics (CFD) simulations for performance evaluation.
- Constructed a prototype and implemented a PID control algorithm.
Main Results:
- CFD simulations validated the dynamic model's viability.
- The prototype achieved 0.35 m/s velocity in undulatory fin mode (2.5 Hz) with ±5° attitude error.
- Flapping propulsion mode enabled precise posture adjustments.
- Experimental results confirmed the robot's performance capabilities.
Conclusions:
- The proposed multimodal bio-inspired underwater robot design is feasible.
- This approach offers a new method for developing high-performance, autonomous bio-inspired underwater robots.
- The study demonstrates the potential of biomimicry for overcoming limitations in underwater robotics.
Related Concept Videos
01:11Buoyancy and Stability for Submerged and Floating Bodies
2.5K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
2.5K
01:30Typical Model Studies
615
Fluid mechanics model studies often utilize scaled-down systems to predict fluid behavior in full-scale environments, such as river flows, dam spillways, and structures interacting with open surfaces. Maintaining Froude number similarity in river models is crucial, as it replicates surface flow features like wave patterns and velocities.
615
01:12Modeling and Similitude
604
Scaled modeling is a fundamental technique in engineering, enabling the study of large and complex systems by creating smaller, manageable replicas that recreate critical characteristics of the original. In hydrology and civil infrastructure, for example, scaled models of dams help analyze water flow, turbulence, and pressure. This method allows for accurate predictions of real-world behavior within a controlled environment, significantly reducing the cost and time involved in full-scale...
604
01:12Buoyancy
12.2K
When an object is placed in a fluid, it either floats or sinks. All objects in a fluid experience a buoyant force. For example, a metal ball sinks, while a rubber ball floats. Similarly, a submarine can sink and float by adjusting its buoyancy. The concept of buoyancy raises several interesting questions. For instance, where does this buoyant force come from? How much buoyant force is required to make an object sink or float? Do objects that sink get any support at all from the...
12.2K