上海海洋大学学报2026，Vol.35Issue(5)：1133-1145,13.DOI:10.12024/jsou.20260505130
人工智能仿生机器鱼研究进展与趋势探讨
Research progress and trend analysis of AI-enabled soft bionic robotic fish
摘要
Abstract
Driven by bio-inspired propulsion mechanisms,bionic robotic fish exhibit high propulsion efficiency,superior maneuverability,and low navigation noise during underwater locomotion,enabling stable operation in complex aquatic environments.This provides new technical pathways for marine environmental monitoring,fishery resource surveys,and underwater engineering operations.This paper systematically reviews the research progress of AI-enabled soft bionic robotic fish from 2005 to 2024,summarizing key developments across core dimensions including biological prototype mechanisms,bionic design theories,structural and actuation approaches,intelligent control algorithms,and power supply systems.Comparative analyses are conducted based on propulsion modes,actuation types,and typical application scenarios.The results show that the BCF(Body and/or caudal fin)propulsion mode delivers superior efficiency for long-distance,high-speed cruising,while the MPF(Median and/or paired fin)propulsion mode offers enhanced stability for low-speed maneuvering and near-bottom precision operations.Significant breakthroughs have been achieved in artificial muscles and flexible actuation for low-noise,highly biomimetic locomotion,yet bottlenecks remain in cycle life,output consistency,and engineering costs.Phased progress has been made in multimodal perception,autonomous decision-making,and distributed cooperative control,yet cross-platform adaptability,performance in complex sea conditions,and reproducibility in real-sea trials remain insufficient.Future research should prioritize three core breakthrough directions:deep integration of artificial intelligence and intelligent control,development of novel smart materials,and expansion of cross-medium operational capabilities.Key priorities include establishing unified testing benchmarks,long-term sea trial verification systems,and standardized engineering design specifications to comprehensively enhance the engineering application level of soft bionic robotic fish in marine exploration,fishery resource surveys,and underwater operation scenarios.关键词
软体仿生鱼/水下机器人/生物启发设计/智能驱动/运动控制/海洋探测Key words
soft bionic robotic fish/underwater robot/bio-inspired design/intelligent actuation/motion control/marine exploration分类
农业科技引用本文复制引用
陈新军,黄小双,张英,孔祥洪,刘必林,张学军..人工智能仿生机器鱼研究进展与趋势探讨[J].上海海洋大学学报,2026,35(5):1133-1145,13.基金项目
国家重点研发计划(2023YFD2401302) （2023YFD2401302）
国家自然科学基金(41876141) （41876141）
