Motion Control of Underwater Robot with Four Bionic Fin

The shallow sea biological fishing robot is mainly used for the detection and fishing of marine products, with a wide and urgent application prospect. Due to the defects of spiral propulsion, a propulsion scheme of bionic fin propelling underwater robot for biological fishing in the shallow sea is introduced in this paper. Bionic fin propelling can also be used as a supplementary propulsion mode in the case of propeller damage. In this paper, a control algorithm based on central pattern generator (CPG) is presented on the basis of dynamic analysis. The simulation analysis is carried out for the vibration parameters of the fin, the force generated by the fin and the speed of the robot. Further, the swimming gait of the robot is planned. Finally, through experimental verification, the underwater robot can realize the movement function of each degree of freedom, and the propulsive force and movement speed are proven to be consistent with the theoretical and simulation analysis results.