水下仿生波动推进机器人研究现状综述OA

Biomimetic undulating propulsion has attracted increasing attention as an alternative propulsion mode for unmanned underwater vehicles due to its high maneuverability and low noise characteristics.However,a significant performance gap still exists between artificial systems and biological counterparts,and key issues such as propulsion mechanisms,fluid-structure interaction,and precise control remain unresolved.This paper presents a systematic review of the research progress over the past two decades,focusing on the design and actuation,theoretical modeling approaches,numerical simulation methods,control strategies,and potential applications of undulating propulsion robots.The review indicates that both motor-driven and smart material-driven prototypes have achieved multimodal locomotion,with reported peak propulsive efficiencies exceeding 0.75,while most swimming speeds remain below 0.5 m/s.In theoretical studies,semi-empirical approaches such as fluid resistance models are widely adopted,whereas high-fidelity performance prediction models are still not mature.Numerical investigations are predominantly based on URANS models,with limited application of high-accuracy methods such as LES and immersed boundary methods.In terms of control,central pattern generators and reinforcement learning techniques have been applied to multimodal and closed-loop control.Overall,the integration of multiscale hydrodynamics,high-fidelity numerical modeling,flexible structural design,and intelligent control is identified as a key direction for improving the performance of undulating propulsion robots.