A New Type of Bionic Manta Ray Robot

He, Junjie; Cao, Yong; Huang, Qiaogao; Cao, Yonghui; Tu, Chaoyu; Pan, Guang

doi:10.1109/ieeeconf38699.2020.9389196

Cited by 12 publications

(5 citation statements)

References 4 publications

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“…The Manta Robot has three motors for each fin which give it excellent maneuverability thanks to the control algorithm based on phase oscillators [ 24 ]. Fins actuated by several mechanisms are also present in the Bionic Manta Ray Robot [ 25 ] and in the Robotic Manta [ 26 ]. The Novel Robotic Manta Ray uses eight Soft Fluidic Actuators to move the fin, the actuators have different cross-sections and lengths, and the traveling wave is reproduced by exploiting the different effects of the viscosity-induced resistance in different actuators [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Cownose Ray Robot for Seabed Exploration

et al. 2023

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This article presents the design and the experimental tests of a bioinspired robot mimicking the cownose ray. These fish swim by moving their large and flat pectoral fins, creating a wave that pushes backward the surrounding water so that the fish is propelled forward due to momentum conservation. The robot inspired by these animals has a rigid central body, housing motors, batteries, and electronics, and flexible pectoral fins made of silicone rubber. Each of them is actuated by a servomotor driving a link inside the leading edge, and the traveling wave is reproduced thanks to the flexibility of the fin itself. In addition to the pectoral fins, two small rigid caudal fins are present to improve the robot’s maneuverability. The robot has been designed, built, and tested underwater, and the experiments have shown that the locomotion principle is valid and that the robot is able to swim forward, perform left and right turns, and do floating or diving maneuvers.

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Section: Introductionmentioning

confidence: 99%

A Bioinspired Cownose Ray Robot for Seabed Exploration

et al. 2023

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“…In the prototype development, the pectoral fin structure with multi-level-distributed fin rays and the caudal fin structure scheme with quantitative deflection were designed. Finally, the underwater bionic manta ray vehicle (UBMRV) was successfully developed [4]. In terms of intelligent motion control, the researchers used fuzzy CPG control to realize the rhythmic motion control of the pectoral fin structure and the quantitative deflection control of the caudal fin of the bionic manta ray vehicle.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx

Zhao

Zhang

Zhu

et al. 2023

JMSE

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Compared to traditional vehicles, the underwater bionic manta ray vehicle (UBMRV) is highly maneuverable, has strong concealment, and is an emerging research field in underwater vehicles. Based on the completion of the single-body research, it is crucial to research the swarm of UBMRVs for the implementation of complex tasks, such as large-scale underwater detection. The relative positioning capability of the UBMRV is the key to realizing a swarm, especially when underwater acoustic communications are delayed. To solve the real-time relative positioning problem between individuals in the UBMRV swarm, this study proposes a relative positioning method based on the combination of the improved object detection algorithm and binocular distance measurement. To increase the precision of underwater object detection in small samples, this paper improves the original YOLOx algorithm. It increases the network’s interest in the object area by adding an attention mechanism module to the network model, thereby improving its detection accuracy. Further, the output of the object detection result is used as the input of the binocular distance measurement module. We use the ORB algorithm to extract and match features in the object-bounding box and obtain the disparity of the features. The relative distance and bearing information of the target are output and shown on the image. We conducted pool experiments to verify the proposed algorithm on the UBMRV platform, proved the method’s feasibility, and analyzed the results.

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“…16 The Manta Robot uses three motors for each fin, giving it excellent maneuverability with a control algorithm based on phase oscillators. 17 Fins actuated by different mechanisms are also used in the Bionic Manta Ray Robot 18 and in the Robotic Manta. 19 The Novel Robotic Manta Ray has eight Soft Fluidic Actuators that move the fin; these actuators have different lengths and cross-sections, and the traveling wave is reproduced by the effects of the viscosity-induced resistance in different actuators.…”

Section: Introductionmentioning

confidence: 99%

Development of an underwater robot with undulation propulsion

Bianchi

Maffi

Cinquemani

2023

Bioinspiration, Biomimetics, and Bioreplication XIII

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This paper presents the design and construction of a biomimetic swimming robot inspired by the locomotion of rays. These fishes move by flapping their pectoral fins and creating a wave that moves in the opposite direction to the direction of motion, pushing the water back and giving the fish a propulsive force due to momentum conservation. While this motion is similar to other fishes in terms of efficiency, it gives better maneuverability and agility in turning. The robot's fins are molded from silicone rubber and moved by servo motors driving mechanisms inside the leading edge of each fin. The traveling wave, mimicking the movement of the fin, is passively generated by the flexibility of the material. The robot is also equipped with a tail that acts as a rudder, helpful in performing maneuvers and maintaining the desired attitude. The rigid central body of the robot is the housing for motors, electronics, and batteries. Sensors embedded in the robot allow to estimate its behavior, to compare different swimming strategies, and evaluate the best algorithm to control the robot.

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A New Type of Bionic Manta Ray Robot

Cited by 12 publications

References 4 publications

A Bioinspired Cownose Ray Robot for Seabed Exploration

A Bioinspired Cownose Ray Robot for Seabed Exploration

Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx

Development of an underwater robot with undulation propulsion

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