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

TL;DR

This work addresses underwater exploration with minimal seabed disturbance by replacing screw propulsion with MPF-based flapping propulsion inspired by manta rays. The authors design a modular manta ray robot with pectoral fins driven by servos, integrated with a Raspberry Pi-based controller, IMU, and pressure sensor, and validate straight and diving motions in a pool using PD control. Key contributions include hardware design that mimics manta ray morphology, a PD-based control strategy for fin actuation, and quantitative results showing forward speeds around $20$–$22\ \mathrm{cm\ s^{-1}}$ with improved trajectory accuracy, demonstrating the viability of bio-inspired underwater robotics for ecological monitoring. The work suggests practical applications in aquariums and nurseries where minimal disturbance is critical and outlines future work to enhance maneuverability in more dynamic underwater 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.

Figures (14)

• Figure 1: Developed manta ray robot
• Figure 2: Design of control box
• Figure 3: Fabricated of control box
• Figure 5: Developed pectoral fin
• Figure 6: Control system diaglam