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The bionic underwater robot propelled by undulating fins is an interesting field in current research on underwater robots. With the prosperous development of bionic underwater robots, its control problem remains big challenging for strong nonlinearity, uncertainty environments, and lack of understanding of dynamic characteristics of undulating fins. As a model-free method, the Q-learning based reinforcement...
In the paper, a testing prototype of bionic undulate thruster driven by a hydraulic system has been setup, so as to imitate the motion of fish's undulate fin in MPF (median and/or paired fin) mode. Some experiments have been carried out on the rotating-direction valve and the swing sets of the ribbing respectively, which are parts of the hydraulic system of the bionic undulate thruster. With the experiments,...
In recent twenty years, tens of the bionic underwater prototype propulsors which imitate aquatic animals have been invented. The bionic principles hand classification of bionic propulsors were presented firstly. The main advance of the bionic propulsors in the world has been listed in table form. Then the bottlenecks which include low efficiency and massive mechanism, hard-shelled reverse control...
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