Biomimetic Realization of a Robotic Penguin Wing: Design and Thrust Characteristics

Flapping flippers or fins are widely employed in biomimetic and bioinspired aquatic robots that imitate natural swimmers, such as fish dolphins. This article involves robotic biomimetics of the penguin, which is often overlooked an excellent swimmer benefiting from agile wings. To achieve equivalent swimming skills robot, wing motion a real penguin was investigated. Based on findings, we developed three-DOF able to implement same flapping, feathering, pitch motions penguins. A kinematic analysis presented, generation demonstrated. We designed experiments study thrust characteristics each joint. The results suggest flapping generates main during locomotion angle can effectively change direction while feathering enables active control attack (AoA). According results, stalling occurs near AoA 10 $^{\circ }$ steady state; however, avoid stall boost net by factor up 7 relative without feathering. Furthermore, introduction reduces torque required actuate motion. hydrodynamics different flow states also discussed.