# A Novel Integrated Gliding and Flapping Propulsion Biomimetic Mana-Ray Robot
###### Abstract  
Bionic underwater robots are the intersection of biology and robotics; they have the advantages of propulsion efficiency and maneuverability. A novel vehicle that combines a gliding and flapping propulsion inspired by a manta ray is presented in this article. The outstanding character of the robot is that its integrated maneuverable flapping propulsion relies on two bionic flexible pectoral fins and long-range efficient gliding propulsion, which is based on a buoyancy-adjustment system and a mass-adjustment system. We designed the biomimetic manta ray robot and analyzed the principle of the gliding and flapping system in this paper. The gliding propulsion capability and the flapping propulsion performance are verified through gliding and swimming experiments. In conclusion, the designed bionic manta robot provides a platform with practical application capabilities in marine environment detection, concealed reconnaissance, and aquaculture. biomimetic robot; manta ray; integrated gliding and flapping propulsion; underwater vehicle; robotic fish +
Footnote †: journal: Marine Science and Engineering  
Footnote †: journal: Marine Science and Technology  
Footnote †: journal: Marine Science and Engineering  
Footnote †: journal: Marine Science and Technology  
dolphin in 2019. Compared with BCF fish, the MPF fish-like creature the manta ray has attracted enough focus for its maneuverability and load capacity [18]. [PERSON] et al. have developed several biomimetic cownose ray robot fish with oscillating and flexible pectoral fins and achieved various manta-like movements using bionic control methods since 2007 [19; 20; 21; 22; 23; 24]. The BOSS Manta Ray is an autonomous underwater bionic vehicle that the Festo company has been developing since 2013 within the framework of the Bionic Observation and Survey System project. It has two propulsion modes: active life-like wing propulsion and hydro-jet propulsion [25; 26; 27]. [PERSON] et al. [28] designed a micro-biomimetic manta ray robot fish actuated by shape memory alloy (SMA) wire, that could swim with good stability and stealth. An underwater glider with bionic wings controlled by two operating modes was proposed. Several experiments were conducted in the coastal area to analyze the propulsive characteristics of the bionic wings in sea trials [29]. The prototype of a biomimetic underwater vehicle inspired by the manta ray was presented, and the locomotion patterns of the manta ray were implemented by using a model of artificial central pattern generators (CPG) [30; 31]. From the above analysis, we concluded that most of the manta-like robotic fish mentioned are in the theoretical research stage, and only a few have natural environment operational experience. The Festo's BOSS Manta [25] has good stability and maneuverability. It can achieve flapping propulsion and pump jet stability, but its load capacity may be smaller than the prototype with a load capacity of 20 kg in this article. The glider [29] with manta ray fins has an advantage in sliding, and the pectoral fins are used as an auxiliary propulsion method. The glider could realize the flapping propulsion, but the flapping propulsion performance is not specified. The experiment's results [32; 33] achieved reasonable control accuracy, but their test environment was in a pool, where the water was still without any current disturbance. While in our present work, the gliding and swimming experiments were carried out in a lake with complicated interference from the unknown flowing water. A comparison of the bionic underwater robots is presented in Table 1 to show the advantages of the proposed manta robot. The main innovation of this paper is the realization of a bionic platform with practical application capability. (a) The proposed manta-like robot has a payload capacity of more than 20 kg, so it can take a greater load to carry out complex underwater missions than miniature robots.