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Heaving motion is an indispensably function for underwater robots. A bionic bladder system which can realize both heaving and pitching control was designed inspired by biologic fishpsilas bladder. It was mainly composed of a cylinder and a piston. The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed...
The undulating fin propulsion mode belonged to one of MPF (median and/or paired fin) has a great potential and a bright prospect because of the remarkable advantages including capable of producing vector thrust, smaller disturbance to ambient flow field, as well as tending to transplant to underwater robots. In this paper, we will introduce a novel bionic propulsor that imitates the structure and...
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