Modular Design and Control of an Underwater Biomimetic Vehicle-Manipulator System

This paper addresses the modular design of an underwater biomimetic vehicle-manipulator systems (UBVMS) propelled by undulatory fins. Motivated by the cuttlefish, which can perform flexible motions by undulatory propulsion in narrow spaces, our UBVMS with two undulatory fins is designed. The specific implementation of mechanical structure is detailed. In particular, the design philosophy of modularity is incorporated into the design of the UBVMS, which provides versatility for the UBVMS and facilitates maintenance and future development of the UBVMS, as new modules can be added to replace the obsolete modules easily. In the end, experimental results demonstrate the feasibility and effectiveness of the mechanism and the control system.