Bionic robotic fish

Abstract

The invention belongs to the technical field of bionic robots and particularly relates to a bionic robotic fish. The bionic robotic fish aims at solving the problems that in the prior art, the swimming performance of a bionic robotic fish is not sufficient, and high-speed swimming, low-speed maneuvering and good stability cannot be taken into consideration. The bionic robotic fish comprises a bodycabin module, a tail cabin module, a tail fin and pectoral fin modules symmetrically distributed on the left side and the right side of the body cabin module, wherein the body cabin module, the tailcabin module, the tail fin and the pectoral fin modules are independently sealed. The tail cabin module and the tail fin are sequentially hinged to the rear portion of the body cabin module. By meansof the bionic robotic fish, due to the combination motion of the tail cabin module and the tail fin, fish imitating BCF mode propelling is achieved, and fish imitating MPF mode propelling is achievedthrough pectoral fin fluctuation. The bionic robotic fish integrates the advantages of the BCF mode and the MPF mode, and the high swimming speed and high maneuvering of the BCF mode and low-speed maneuvering and stable swimming of the MPF mode can be achieved. According to an intelligent control method based on reinforcement learning, different work modes are selected automatically for adapting to different underwater environments and meeting different task requirements, and wide application prospects are achieved.

Description

technical field

[0001] The invention belongs to the technical field of robots, and in particular relates to a bionic robot fish. Background technique

[0002] In nature, after a long period of natural evolution, fish have developed an extraordinary ability to swim in water. According to the different propelling parts of the body during swimming, the propulsion modes of fish are mainly divided into two categories: Body and / or Caudal Fin (BCF for short) and Median and / or Paired Fin (Median and / or Paired Fin, Abbreviated as MPF). The fish adopting the BCF mode mainly use the undulation of the body and the swing of the caudal fin to generate propulsion. After a long evolution, a variety of propulsion modes suitable for its morphological structure have been formed, such as the Anguilliform mode, Carangiform mode and Carangiform mode. Tuna mode (Thunniform), etc. Fishes in the BCF mode often have great differences in swimming performance due to their different morphological str...

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