公开(公告)号：US11208186B2

公开(公告)日：2021-12-28

申请号：US17279099

申请日：2020-04-16

Applicant: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES

Inventor： Junzhi Yu ,  Zhengxing Wu ,  Di Chen ,  Min Tan

IPC: B63H1/36 ,  B64C35/00 ,  B64C39/02 ,  B63G8/00

Abstract: A water-air amphibious cross-medium bio-robotic flying fish includes a body, pitching pectoral fins, variable-structure pectoral fins, a caudal propulsion module, a sensor module and a controller. The caudal propulsion module is controlled to achieve underwater fish-like body-caudal fin (BCF) propulsion, and the variable-structure pectoral fins is adjusted to achieve air gliding and fast splash-down diving motions of the bio-robotic flying fish. The coordination between the caudal propulsion module and the pitching pectoral fins is controlled to achieve the motion of leaping out of water during water-air cross-medium transition. The ambient environment is detected by the sensor module, and the motion mode of the bio-robotic flying fish is controlled by the controller.