中国科学院自动化研究所机构知识库

This article presents the design and implementation of an innovative biomimetic underwater vehicle (BUV) and its locomotion controller. Through mimicking a dactylopteridae, the hybrid propulsion BUV is designed with two symmetrical bio-inspired long-fins and a double-joint fishtail. The mechatronic design of the dactylopteridae-inspired BUV with the pectoral long-fins and a double-joint fishtail is first provided. The two flexible long-fins compose the median and/or paired fin (MPF) propulsion, while the fishtail acts as the body and/or caudal fin (BCF) propulsion. Through the coordination of BCF and MPF propulsion modes, the BUV obtains excellent low-speed locomotion stability and also keeps high maneuverability. Moreover, the locomotion control methods based on central pattern generators (CPGs) model and fuzzy adaptive proportion integral differential (PID) are proposed for this BUV. In the end, the experimental results of the multimode motion and closed-loop motion control demonstrate the feasibility and effectiveness of the mechanism and the locomotion control system.