Research

The propulsion requirements of underwater vehicle are often attributed to high efficiency and high maneuverability. With inspiration from highly efficient and maneuverable fish swimming, this proposal aims at establishing an integrative underwater propulsion platform incorporating mechanism biomimicry, motion biomimicry and control biomimicry, and at investigating the basic theory and key technologies of high-efficiency and high-maneuverability of fish swimming. The main research topics are listed as follows. Firstly, we will investigate the kinematic and dynamic features of typical high-maneuvers and establish an integrative control model. Then compliant drive mechanism for tail-fin-thruster will be explored and the interaction between active drive and compliant underactuation will be revealed. We also explore the gait generation, optimization and precise control of various maneuvers so as to obtain a precise control method with a certain anti-perturbation ability. After this, a variety of imitation fins (involving multi-DOF pectoral fins folded anal fin/dorsal fin, rotating tail fin) as well as an efficient and compliant caudal-fin-thruster will be designed and realized. At last, different biomimetic robotic fish prototypes with different propulsion configurations will be developed by through the integration of the unit bionic technology; a well-integrated experimental platform to validate the proposed theory and methods will be ultimately built. The outcome of the proposal will not only deepen and enhance the understanding of the biomechanics of fish swimming, but also provide important theoretical and technical support for designing and controlling highly efficient and maneuverable underwater vehicles.