The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and multi-rotor aircraft. Flying fish, a unique aerial-aquatic animal that can both swim in water and glide over the sea surface, has not been fully explored as a bionic robot model, especially regarding its motion patterns with the collapsible pectoral fins. To verify the contribution of the collapsible wings to the flying fish motion pattern, we have designed a novel bio-robot with collapsible wings inspired by the flying fish. The bionic prototype has been successfully designed and fabricated, incorporating collapsible wings with soft hydraulic actuators, an innovative application of soft actuators to a micro aquatic-aerial robot. We have analyzed and built a precise model of dynamics for control, and tested both the soft hydraulic actuators and detailed aerodynamic coefficients. To further verify the feasibility of collapsible wings, we conducted simulations in different situations such as discharge angles, the area of collapsible wings, and the advantages of using ground effect. The results confirm the control of the collapsible wings and demonstrate the unique multi-modal motion pattern between water and air. Overall, our research represents the study of the collapsible wings in aquatic-aerial robots and significant contributes to the development of aquatic-aerial robots. The using of the collapsible wings must a contribution to the future aquatic-aerial robot.

翻译：水空两栖机器人（aerial-aquatic robot）概念作为一种能够在空中和水下运行的新型解决方案已逐渐兴起。此前关于此类机器人设计的研究主要集中于固定翼和多旋翼飞行器等成熟技术。飞鱼——一种既可水中游弋又可海面滑翔的独特水空两栖动物——作为仿生机器人模型尚未得到充分探索，尤其是其可折叠胸鳍的运动模式尚未被深入挖掘。为验证可折叠翼对飞鱼运动模式的贡献，我们受飞鱼启发设计了一种新型仿生可折叠翼机器人。该仿生原型已成功设计并制造，其可折叠翼集成有软体液压驱动器，这是软体致动器在微型水空两栖机器人中的创新应用。我们为控制系统建立了精确动力学模型并完成了分析，同时测试了软体液压驱动器的性能及详细气动系数。为进一步验证可折叠翼的可行性，我们针对不同出射角度、折叠翼面积及地面效应优势等工况开展了仿真研究。结果证实了可折叠翼的可控性，并揭示了水空之间独特的多模态运动模式。总体而言，本研究系统探索了折叠翼在水空两栖机器人中的应用，对水空两栖机器人的发展具有重要贡献。折叠翼技术的应用必将为未来水空两栖机器人带来突破。