A comparative study of three modes for realizing transmedia standing-and-hovering behavior in robotic dolphins

Three different hovering modes, namely, the caudal fin, pectoral fins, and multi fins, were utilized to achieve the standing-and-hovering behavior in robotic dolphins. A three-dimensional dolphin model, consisting of body, caudal fin, and symmetric pectoral fins, was used as the virtual swimmer to implement three hovering modes. A novel paddling motion was proposed, and a symmetric shape was designed of the pectoral fins. The hovering mechanisms of different modes were revealed, and the mapping relationships between different motion and performance parameters such as hovering height, efficiency, stability, and rapidity were established. The respective advantages of the three hovering modes were compared. The results showed that the caudal fin mode had the best hovering stability, while the pectoral fins mode had the best hovering rapidity. Moreover, it is worth noting that the multi fins mode had both the good hovering stability and rapidity. Therefore, the optimal hovering mode and motion parameters can be selected based on different expected objectives to achieve the best results. This study provides a new approach to break through the spatial barriers to movement of underwater robots and provides a solid hydrodynamic theoretical basis for the development of cross-medium robots with multiple hovering modes.