Biomimetic Mantaray robot toward the underwater autonomous -- Experimental verification of swimming and diving by flapping motion -

TL;DR

This paper reports the development and experimental validation of a biomimetic manta ray robot that uses flapping motion for efficient, stable underwater swimming and diving, suitable for ecological monitoring and exploration.

Contribution

The study introduces a novel manta ray robot with flapping propulsion, demonstrating effective underwater mobility and control through experimental verification.

Findings

Stable swimming and diving achieved with PD control

Efficient propulsion minimizes seabed disturbance

Suitable for ecological monitoring in sensitive environments

Abstract

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.