Related Experiment Video
Updated: Jan 28, 2026
07:40
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
15.7K
Hybrid-Actuated Multimodal Cephalopod-Inspired Underwater Robot
Zeyu Jian1,2,3, Qinlin Han1, Tongfu He1
1College of Engineering, Ocean University of China, Qingdao 266100, China.
Biomimetics (Basel, Switzerland)
|January 27, 2026
Summary
This study introduces a novel cephalopod-inspired robot with hybrid actuation for enhanced underwater maneuverability. Its design enables versatile control and adaptability in confined, shallow waters for complex observation tasks.
Area of Science:
- Robotics
- Biomimetics
- Fluid Dynamics
Background:
- Traditional underwater vehicles face limitations in maneuverability and adaptability.
- Cephalopod locomotion offers inspiration for advanced underwater robotics.
Purpose of the Study:
- To propose and validate a novel hybrid-actuated, multimodal cephalopod-inspired robot.
- To enhance underwater vehicle maneuverability and adaptability in confined environments.
Main Methods:
- Integration of sinusoidal undulating fins for propulsion and steering.
- Inclusion of water-flapping tentacles for auxiliary burst propulsion.
- Implementation of a gear-and-rack center-of-gravity (CoG) adjustment module for pitch control.
Main Results:
- Undulating fin thrust scales quadratically with oscillation frequency, matching hydrodynamic theory.
- Demonstrated multi-degree-of-freedom control, including diving and surfacing via CoG adjustment.
- Achieved high maneuverability with a turning radius of approximately 15 cm and validated environmental robustness in shallow waters.
Conclusions:
- The proposed robot exhibits versatile maneuvering capabilities and robust adaptability.
- This novel platform is suitable for complex underwater observation tasks in confined and shallow environments.
- The hybrid actuation system effectively addresses limitations of traditional underwater vehicles.
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