A Novel Undulatory Propulsion Strategy for Underwater Robots

Li, Qiuyang; Jin-hua, Zhang; Hong, Jun; De-bin, HU; Yang, Yunjuan; Guo, Shenyang

doi:10.1007/s42235-021-0057-4

Cited by 13 publications

(11 citation statements)

References 29 publications

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“…Therefore, our results expected that the swimming stability of rays would be improved at 0 and 0.5 differences and that the swimming maneuverability of the ray would be improved at 0.25 and 0.75 differences. Therefore, as in previous studies 13 , 14 , 18 – 20 , the phase difference between the left and right pectoral fin movements may be one way to have both maneuverability and stability during straight-line swimming.…”

Section: Discussionsupporting

confidence: 57%

“…Moreover, stingray-shaped underwater robots are being developed 12 , 14 , 24 , 45 , 46 . It is essential to reduce the underwater robot's motion oscillation when swimming for investigative work underwater.…”

Section: Discussionmentioning

confidence: 99%

“…To the best of our knowledge, there is no study on the phase difference of movements of the left and right pectoral fins on straight-line swimming. However, previous studies have shown that differences in the movement of the left and right pectoral fins affect rays' turning ability and maneuverability 12 – 14 . Therefore, we hypothesized that the phase difference in the movement of the left and right pectoral fins during straight-line swimming would increase swimming stability and maneuverability.…”

Section: Introductionmentioning

confidence: 96%

“…In addition, Yang et al showed that it could change direction by reversing the propagation direction of the left and right pectoral fin movements or making the amplitude of the left and right pectoral fin movements different 13 . Finally, in experiments with a stingray robot, Li et al showed that travel direction could be controlled by changing the speed at which the left and right pectoral fins moved 14 . However, in this study, phase differences between the pectoral fins’ movements are often observed even when swimming straight ahead (Supplement Movies 1 , 2 ).…”

Section: Introductionmentioning

confidence: 99%

“…The pufferfish can swim with maneuverability and stability by the vortices generated by its body and the way it moves its fins 15 – 17 . In insects and rajiform and mobuliform rays, stability has been shown to be affected by changes in the amplitude and speed of the left and right pectoral fin movements and the bending angle of the pectoral fins 13 , 14 , 18 – 20 . Although these previous studies were based on the assumption of turning, the amplitude and speed difference of the left and right pectoral fin movements are expected to maintain posture effectively even during straight-line swimming.…”

Section: Introductionmentioning

confidence: 99%

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Changes in rays’ swimming stability due to the phase difference between left and right pectoral fin movements

Sumikawa

Naraoka

Fukue

et al. 2022

Sci Rep

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Swimming motions of rays that swim using undulation locomotion are not always symmetrical; there may be a phase difference between the left and right pectoral fins. However, few studies on the swimming of rays have mentioned left and right pectoral fin movements. Moreover, the effects of movements of the left and right pectoral fins on swimming have not been clarified. This paper describes a computational study of phase differences of pectoral fin movements in the swimming of rays with the validity of fluid analysis methods. The movement and shape of the ray were made based on previous biological research and pictures. An overset grid was used to reproduce the ray’s complex motions. The analysis was performed under four phase difference conditions: 0 $$T$$ T ($$T$$ T is the period), 0.25 $$T$$ T , 0.5 $$T$$ T , and 0.75 $$T$$ T . The results show that a phase difference between the left and right pectoral fin movements affects swimming stability and maneuverability but not propulsive efficiency. We suggest that the phase difference in pectoral fin movements is essential for the swimming of rays, and rays adjust the phase difference between the movement of the left and right pectoral fins to suit their purpose.

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