SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
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arXiv
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| Main Authors: | , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912387273064448 |
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| author | He, Qu Li, Weikun Dai, Guangmin Chen, Hao Liu, Qimeng Tian, Xiaoqing You, Jie Cui, Weicheng Triantafyllou, Michael S. Fan, Dixia |
| author_facet | He, Qu Li, Weikun Dai, Guangmin Chen, Hao Liu, Qimeng Tian, Xiaoqing You, Jie Cui, Weicheng Triantafyllou, Michael S. Fan, Dixia |
| contents | Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability. This paper introduces SpineWave, a biomimetic robotic fish featuring a fish-spine-like rigid-flexible transition structure. The structure integrates expandable fishbone-like ribs and adjustable magnets, mimicking the stretch and recoil of fish muscles to balance rigidity and flexibility. In addition, we employed an evolutionary algorithm to optimize the hydrodynamics of the robot, achieving significant improvements in swimming performance. Real-world tests demonstrated robustness and potential for environmental monitoring, underwater exploration, and industrial inspection. These tests established SpineWave as a transformative platform for aquatic robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_16453 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion He, Qu Li, Weikun Dai, Guangmin Chen, Hao Liu, Qimeng Tian, Xiaoqing You, Jie Cui, Weicheng Triantafyllou, Michael S. Fan, Dixia Robotics Systems and Control Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability. This paper introduces SpineWave, a biomimetic robotic fish featuring a fish-spine-like rigid-flexible transition structure. The structure integrates expandable fishbone-like ribs and adjustable magnets, mimicking the stretch and recoil of fish muscles to balance rigidity and flexibility. In addition, we employed an evolutionary algorithm to optimize the hydrodynamics of the robot, achieving significant improvements in swimming performance. Real-world tests demonstrated robustness and potential for environmental monitoring, underwater exploration, and industrial inspection. These tests established SpineWave as a transformative platform for aquatic robotics. |
| title | SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.16453 |