仿鳐鱼机器人通过扑翼运动实现低扰动高效游动，适合水下生态监测。
Biomimetic Mantaray robot toward the underwater autonomous -- Experimental verification of swimming and diving by flapping motion -
- 仿生鳐鱼结构，用伺服电机驱动鳍片扑动推进。
- 实验验证在池中稳定游泳与下潜，PD控制效果良好。
- 适合水族馆、鱼苗场等需低干扰环境的应用场景。
本研究开发并实验验证了一种用于水下自主探索的仿生蝠鲼机器人。受蝠鲼启发，该机器人采用扑翼运动推进，相比传统螺旋桨推进方式能更有效减少对海底的扰动并提升效率。机器人配备由伺服电机驱动的胸鳍和流线型控制舱，以降低流体阻力。控制系统基于Raspberry Pi 3B，集成惯性测量单元（IMU）和压力传感器，实现实时状态监测与控制。在游泳池中开展的实验评估了机器人的游泳与下潜能力。结果表明，在PD控制下可实现稳定的游泳与下潜动作。该机器人适用于水族馆、鱼苗场等需要低扰动和高机动性的环境，展示了生物启发式机器人设计在生态监测与水下探索中的应用潜力。
原文摘要 · Abstract (English)
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance and enhance efficiency compared to traditional screw propulsion. The robot features pectoral fins driven by servo motors and a streamlined control box to reduce fluid resistance. The control system, powered by a Raspberry Pi 3B, includes an IMU and pressure sensor for real-time monitoring and control. Experiments in a pool assessed the robot's swimming and diving capabilities. Results show stable swimming and diving motions with PD control. The robot is suitable for applications in environments like aquariums and fish nurseries, requiring minimal disturbance and efficient maneuverability. Our findings demonstrate the potential of bio-inspired robotic designs to improve ecological monitoring and underwater exploration.
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