Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability

• Published in: Journal of marine science and engineering Vol. 13; no. 7; p. 1295
• Main Authors: He, Qu, Zhu, Yunpeng, Li, Weikun, Cui, Weicheng, Fan, Dixia
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.07.2025
• Subjects: Autonomous underwater vehicles; Biomimetics; Braking; Control algorithms; Data collection; Degrees of freedom; Design; Environmental monitoring; Fins; Fish; Fishes; Flow velocity; Force measurement; hydrodynamics; Maneuverability; Manoeuvrability; Particle image velocimetry; pectoral fins; Performance evaluation; Real time; Remote submersibles; Rescue operations; robotic fish; Robotics; Robots; Search and rescue operations; Underwater exploration; underwater robotics; Underwater robots; Underwater vehicles; China; United States > US
• ISSN: 2077-1312; 2077-1312
• DOI: 10.3390/jmse13071295

The integration of biomimetic pectoral fins into robotic fish presents a promising approach to enhancing maneuverability, stability, and braking efficiency in underwater robotics. This study investigates a 1-DOF (degree of freedom) pectoral fin mechanism integrated into the SpineWave robotic fish. Through force measurements and particle image velocimetry (PIV), we optimized control parameters to improve braking and turning performances. The results show a 50% reduction in stopping distance, significantly enhancing agility and control. The fin-assisted braking and turning modes enable precise movements, making this approach valuable for autonomous underwater vehicles. This research lays the groundwork for adaptive fin designs and real-time control strategies, with applications in underwater exploration, environmental monitoring, and search-and-rescue operations.