Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism

• URL: http://arxiv.org/abs/2603.02851v1
• Date: Tue, 03 Mar 2026 10:55:45 GMT
• Title: Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism
• Abstract summary: We develop a wire-driven robotic fish equipped with a crank-slider mechanism that decouples propulsion from steering.<n>We propose a combined feedforward-feedback control strategy to achieve independent regulation of propulsion and steering.
• Score: 7.409300331963032
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among robotic fish employing the Body-Caudal Fin (BCF) locomotion pattern, motor-driven actuation is widely adopted. Some approaches utilize multiple servo motors to achieve precise body curvature control, while others employ a brushless motor to drive the tail via wire or rod, enabling higher oscillation and swimming speeds. However, the former approaches typically result in limited swimming speed, whereas the latter suffer from poor maneuverability, with few capable of smooth turning. To address this trade-off, we develop a wire-driven robotic fish equipped with a 2-degree-of-freedom (DoF) crank-slider mechanism that decouples propulsion from steering, enabling both high swimming speed and agile maneuvering. In this paper, we first present the design of the robotic fish, including the elastic skeleton, waterproof structure, and the actuation mechanism that realizes the decoupling. We then establish the actuation modeling and body dynamics to analyze the locomotion behavior. Furthermore, we propose a combined feedforward-feedback control strategy to achieve independent regulation of propulsion and steering. Finally, we validate the feasibility of the design, modeling, and control through a series of prototype experiments, demonstrating swimming, turning, and directional control.

Related papers

• DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control [3.07869141026886]
  We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper.<n>The goal is to enable both aerial and ground locomotion capabilities on a unified mobile robot.<n>We successfully validated the design and control of DASH through a range of tasks.
  arXiv  Detail & Related papers  (2026-07-20T21:39:25Z)
• A Bioinspired Underwater Robot with a Latch-Mediated Soft Bistable Mechanism [5.9498629991010175]
  We introduce a bioinspired, soft bistable actuator with an integrated latch mechanism that enables asymmetric energy input and release using a single motor.<n> Experimental results demonstrate stable periodic flapping, precise steering, and a maximum thrust of 0.528 N, impulse of 0.147 Ns, and vertical displacement of 30 mm.<n>This study presents a novel, energy-efficient approach for controlling motion in compact underwater robots, paving the way for advanced biomimetic designs.
  arXiv  Detail & Related papers  (2026-05-26T12:29:05Z)
• Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots [11.247998904088007]
  We propose a trajectory-driven global optimization framework for unified structural-hydrodynamic modeling of underwater multibody systems.<n>Inspired by the Covariance Matrix Adaptation Evolution Strategy (CMA-ES), the proposed approach simultaneously identifies coupled internal elastic, damping, and distributed hydrodynamic parameters.<n>This enables high-fidelity reproduction of both underactuated mechanisms and compliant soft robotic systems in underwater environments.
  arXiv  Detail & Related papers  (2026-03-09T04:06:43Z)
• A 26-Gram Butterfly-Inspired Robot Achieving Autonomous Tailless Flight [61.21669716392821]
  textitAirPulse is a 26-gram butterfly-inspired robot that achieves the first onboard, closed-loop controlled flight for a tailless two-winged platform at this scale.<n>It replicates key biomechanical traits of butterfly flight, utilizing low-aspect-ratio, compliant carbon-fiber-reinforced wings and low-frequency flapping that reproduces characteristic biological body undulations.
  arXiv  Detail & Related papers  (2026-02-06T15:58:50Z)
• TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design [9.930529399697557]
  Triphibious robots capable of multi-domain motion are promising to handle complex tasks across diverse environments.<n>Existing designs primarily focus on dual-mode platforms, and some designs suffer from high mechanical complexity or low propulsion efficiency.<n>We propose a novel triphibious robot capable of aerial, terrestrial, and aquatic motion, by a minimalist design combining a quadcopter structure with two passive wheels.
  arXiv  Detail & Related papers  (2026-02-01T18:38:22Z)
• SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots [9.358725923314006]
  This work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake.<n>We introduce the Double Threshold Spiking neuron model with adjustable thresholds to generate varied output patterns.<n>We demonstrate that our approach, termed SpikingSoft, naturally pairs and integrates with reinforcement learning.
  arXiv  Detail & Related papers  (2025-01-31T12:00:54Z)
• An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion [26.745400349653767]
  This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot.
  arXiv  Detail & Related papers  (2024-11-01T04:05:24Z)
• Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control [106.32794844077534]
  This paper presents a study on using deep reinforcement learning to create dynamic locomotion controllers for bipedal robots. We develop a general control solution that can be used for a range of dynamic bipedal skills, from periodic walking and running to aperiodic jumping and standing. This work pushes the limits of agility for bipedal robots through extensive real-world experiments.
  arXiv  Detail & Related papers  (2024-01-30T10:48:43Z)
• VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation [78.92147339883137]
  We show that it is pivotal in increasing controller robustness by learning a latent space capturing the key stance phases constituting a particular gait. We demonstrate that specific properties of the drive signal map directly to gait parameters such as cadence, footstep height and full stance duration. The use of a generative model facilitates the detection and mitigation of disturbances to provide a versatile and robust planning framework.
  arXiv  Detail & Related papers  (2022-05-02T19:49:53Z)
• Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots [121.42930679076574]
  We present a model-free reinforcement learning framework for training robust locomotion policies in simulation. domain randomization is used to encourage the policies to learn behaviors that are robust across variations in system dynamics. We demonstrate this on versatile walking behaviors such as tracking a target walking velocity, walking height, and turning yaw.
  arXiv  Detail & Related papers  (2021-03-26T07:14:01Z)
• Neuromorphic adaptive spiking CPG towards bio-inspired locomotion of legged robots [58.720142291102135]
  Spiking Central Pattern Generator generates different locomotion patterns driven by an external stimulus. The locomotion of the end robotic platform (any-legged robot) can be adapted to the terrain by using any sensor as input.
  arXiv  Detail & Related papers  (2021-01-24T12:44:38Z)
• Cat states in a driven superfluid: role of signal shape and switching protocol [62.997667081978825]
  We investigate the behavior of a one-dimensional Bose-Hubbard model whose kinetic energy is made to oscillate with zero time-average. We analyze the robustness of this unconventional ground state against variations of a number of system parameters.
  arXiv  Detail & Related papers  (2020-05-11T15:15:06Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.