Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.
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机译：Manta Rays可以通过高推进效率实现水下的柔性运动。仿生Manta Ray Robot一直是生物机器人研究的热点。本文基于粉丝雷的合成生物学观察，提出了一种新型仿生野蛮射线机器人。首先，灵活的机械结构和刚性支撑集成在机器人的机械结构设计中，并且可以很好地模拟胸鳍的实际柔性变形。其次，中央图案发生器（CPG）控制方法用于实现节律仿生运动。进行了演示原型的实验，以验证提出方法的有效性和效率。
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