Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability

He, Qu; Zhu, Yunpeng; Li, Weikun; Cui, Weicheng; Fan, Dixia

doi:10.3390/jmse13071295

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Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability

by

Qu He

^1,2,†

,

Yunpeng Zhu

^1,2,†

,

Weikun Li

^2,3,4,*,

Weicheng Cui

^2,3,4

and

Dixia Fan

^2,3,4,*

¹

Zhejiang University‑Westlake University Joint Training, Zhejiang University, Hangzhou 310027, China

²

Key Laboratory of Coastal Environment and Resources of Zhejiang Province, School of Engineering, Westlake University, Hangzhou 310030, China

³

Institute of Advanced Technology, Westlake Institute for Advanced Study, Hangzhou 310024, China

⁴

Research Center for Industries of the Future, Westlake University, Hangzhou 310030, China

^*

Authors to whom correspondence should be addressed.

^†

These authors contributed equally to this work and are considered co-first authors.

J. Mar. Sci. Eng. 2025, 13(7), 1295; https://doi.org/10.3390/jmse13071295

Submission received: 23 May 2025 / Revised: 17 June 2025 / Accepted: 23 June 2025 / Published: 30 June 2025

(This article belongs to the Special Issue Advancements in Deep-Sea Equipment and Technology, 3rd Edition)

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Abstract

The integration of biomimetic pectoral fins into robotic fish presents a promising approach to enhancing maneuverability, stability, and braking efficiency in underwater robotics. This study investigates a 1-DOF (degree of freedom) pectoral fin mechanism integrated into the SpineWave robotic fish. Through force measurements and particle image velocimetry (PIV), we optimized control parameters to improve braking and turning performances. The results show a 50% reduction in stopping distance, significantly enhancing agility and control. The fin-assisted braking and turning modes enable precise movements, making this approach valuable for autonomous underwater vehicles. This research lays the groundwork for adaptive fin designs and real-time control strategies, with applications in underwater exploration, environmental monitoring, and search-and-rescue operations.

Keywords: biomimetics; robotic fish; pectoral fins; underwater robotics; maneuverability; hydrodynamics; bioinspired design; autonomous underwater vehicle

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MDPI and ACS Style

He, Q.; Zhu, Y.; Li, W.; Cui, W.; Fan, D. Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability. J. Mar. Sci. Eng. 2025, 13, 1295. https://doi.org/10.3390/jmse13071295

AMA Style

He Q, Zhu Y, Li W, Cui W, Fan D. Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability. Journal of Marine Science and Engineering. 2025; 13(7):1295. https://doi.org/10.3390/jmse13071295

Chicago/Turabian Style

He, Qu, Yunpeng Zhu, Weikun Li, Weicheng Cui, and Dixia Fan. 2025. "Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability" Journal of Marine Science and Engineering 13, no. 7: 1295. https://doi.org/10.3390/jmse13071295

APA Style

He, Q., Zhu, Y., Li, W., Cui, W., & Fan, D. (2025). Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability. Journal of Marine Science and Engineering, 13(7), 1295. https://doi.org/10.3390/jmse13071295

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Pectoral Fin-Assisted Braking and Agile Turning: A Biomimetic Approach to Improve Underwater Robot Maneuverability

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