Development and Motion Control of Biomimetic Underwater Robots: A Survey

Biomimetic underwater robots have attracted considerable research attention globally, owing to their quieter actuations, higher propulsion efficiency, and stronger maneuverability when compared with conventional underwater vehicles equipped with axial propellers. This article provides a comprehensive survey of current research in this field. First, we review the development status of biomimetic underwater robots in both body/caudal fin (BCF), median/paired fin (MPF), and their hybrid propulsion modes. Then, we outline the motion control methods employed in biomimetic underwater robots, including open-loop swimming control and typical closed-loop control strategies. In particular, we detail our latest studies on the RobCutt series underwater robots. On this basis, some critical issues and future directions are summarized. We predict that biomimetic underwater robots will have excellent prospects in underwater environment exploration and resource utilization.