Bionic Collapsible Wings in Aquatic-aerial Robot

TL;DR

This paper introduces a novel bio-robot with collapsible wings inspired by flying fish, demonstrating multi-modal motion control in water and air through innovative soft hydraulic actuators and aerodynamic modeling.

Contribution

The study designs and fabricates a bio-robot with collapsible wings, analyzes its dynamics, and verifies the effectiveness of soft hydraulic actuators for multi-modal aquatic-aerial motion.

Findings

Successful design and fabrication of the bio-robot with collapsible wings

Demonstrated control of wings and multi-modal motion patterns

Validated aerodynamic models and simulation results

Abstract

The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and multi-rotor aircraft. Flying fish, a unique aerial-aquatic animal that can both swim in water and glide over the sea surface, has not been fully explored as a bionic robot model, especially regarding its motion patterns with the collapsible pectoral fins. To verify the contribution of the collapsible wings to the flying fish motion pattern, we have designed a novel bio-robot with collapsible wings inspired by the flying fish. The bionic prototype has been successfully designed and fabricated, incorporating collapsible wings with soft hydraulic actuators, an innovative application of soft actuators to a micro aquatic-aerial robot. We have analyzed and built a precise model of dynamics for control, and tested both the soft hydraulic actuators and detailed aerodynamic coefficients. To further verify the feasibility of collapsible wings, we conducted simulations in different situations such as discharge angles, the area of collapsible wings, and the advantages of using ground effect. The results confirm the control of the collapsible wings and demonstrate the unique multi-modal motion pattern between water and air. Overall, our research represents the study of the collapsible wings in aquatic-aerial robots and significant contributes to the development of aquatic-aerial robots. The using of the collapsible wings must a contribution to the future aquatic-aerial robot.