A hybrid drive bionic robotic fish with pectoral-fin propellers and caudal-fin propulsion

摘要

The current bionic robotic fish with a single propulsion method exhibits deficiencies in motion stability and maneuverability. This paper proposes a bionic robotic fish with hybrid drive capability. Its hybrid propulsion system comprises two pectoral fin propellers and a caudal fin propulsion structure driven by a servo. The pectoral fin propellers enable the robotic fish to alter the direction of its propulsive force through the pectoral fin servo, thereby conferring upon it the capacity for three-dimensional spatial motion. The robotic fish is equipped with a CPG controller that accepts high-level control commands for the purpose of realizing its motion control. Finally, the experiments conducted in a swimming pool demonstrated that the robotic fish is not only capable of exhibiting excellent two-dimensional planar motion, but also of performing three-dimensional spatial motion, such as a rapid descent.