数字海洋与水下攻防2026，Vol.9Issue(1)：2-31,30.DOI:10.19838/j.issn.2096-5753.2026.01.001
水下仿生波动推进机器人研究现状综述
Review of Current Research Status of Underwater Biomimetic Undulating Propulsion Robots
摘要
Abstract
Biomimetic undulating propulsion has attracted increasing attention as an alternative propulsion mode for unmanned underwater vehicles due to its high maneuverability and low noise characteristics.However,a significant performance gap still exists between artificial systems and biological counterparts,and key issues such as propulsion mechanisms,fluid-structure interaction,and precise control remain unresolved.This paper presents a systematic review of the research progress over the past two decades,focusing on the design and actuation,theoretical modeling approaches,numerical simulation methods,control strategies,and potential applications of undulating propulsion robots.The review indicates that both motor-driven and smart material-driven prototypes have achieved multimodal locomotion,with reported peak propulsive efficiencies exceeding 0.75,while most swimming speeds remain below 0.5 m/s.In theoretical studies,semi-empirical approaches such as fluid resistance models are widely adopted,whereas high-fidelity performance prediction models are still not mature.Numerical investigations are predominantly based on URANS models,with limited application of high-accuracy methods such as LES and immersed boundary methods.In terms of control,central pattern generators and reinforcement learning techniques have been applied to multimodal and closed-loop control.Overall,the integration of multiscale hydrodynamics,high-fidelity numerical modeling,flexible structural design,and intelligent control is identified as a key direction for improving the performance of undulating propulsion robots.关键词
仿生推进/波动鳍/水下机器人/水动力性能/数值模拟/控制策略Key words
biomimetic propulsion/undulating fin/underwater robot/hydrodynamic performance/numerical simulation/control strategy分类
信息技术与安全科学引用本文复制引用
胡桥,岳丹枫,张堂佳,石鑫东,李士杰,曾杨彬..水下仿生波动推进机器人研究现状综述[J].数字海洋与水下攻防,2026,9(1):2-31,30.基金项目
国家自然科学基金"基于刚柔感知融合的水下机器人波动推进步态与时变流场自匹配研究"(52371337),"叶企孙"科学基金"水下流电复合侧线阵列高精度感知机制与方法研究(U2441288). （52371337）
