Coordinated Dual-Fin Actuation of Bionic Ocean Sunfish Robot for Multi-Modal Locomotion.

ABSTRACT: This paper presents a bionic dual-fin underwater robot, inspired by the ocean sunfish, that achieves multiple swimming motions using only two vertically arranged fins. This work demonstrates that a mechanically simple platform can execute complex 2-D and 3-D motions through advanced control strategies, eliminating the need for auxiliary actuators. We control the two fins independently so that they can perform cooperative actions in the water, enabling the robot to perform various motions, including high-speed cruising, agile turning, controlled descents, proactive ascents, and continuous spiraling. The swimming performance of the dual-fin robot in executing multi-modal locomotion is experimentally analyzed through visual measurement methods and onboard sensors. Experimental results demonst

SUBMITTER: Huang L 

PROVIDER: S-EPMC12383721 | biostudies-literature | 2025 Jul

REPOSITORIES: biostudies-literature