This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance and enhance efficiency compared to traditional screw propulsion. The robot features pectoral fins driven by servo motors and a streamlined control box to reduce fluid resistance. The control system, powered by a Raspberry Pi 3B, includes an IMU and pressure sensor for real-time monitoring and control. Experiments in a pool assessed the robot's swimming and diving capabilities. Results show stable swimming and diving motions with PD control. The robot is suitable for applications in environments like aquariums and fish nurseries, requiring minimal disturbance and efficient maneuverability. Our findings demonstrate the potential of bio-inspired robotic designs to improve ecological monitoring and underwater exploration.

翻译：本研究介绍了一种用于水下自主探索的仿生蝠鲼机器人的开发与实验验证。受蝠鲼启发，该机器人采用扑翼运动进行推进，与传统螺旋桨推进方式相比，能显著减少对海底的扰动并提升推进效率。机器人配备由伺服电机驱动的胸鳍及流线型控制舱以降低流体阻力。控制系统以树莓派3B为核心，集成IMU与压力传感器，实现实时状态监测与运动控制。在泳池环境中进行的实验评估了机器人的游动与下潜性能。结果表明，在PD控制器作用下机器人能实现稳定的游动与下潜动作。该机器人适用于水族馆、鱼类养殖场等对扰动敏感且需高效机动性的应用场景。本研究证实了仿生机器人设计在提升生态监测与水下探索能力方面的潜力。