与传统的轴向螺旋桨水下航行器相比，仿生水下机器人具有更安静的驱动、更高的推进效率和更强的机动能力，仿生水下机器人正逐渐成为水下探测和作业的重要工具。仿生水下机器人依据其模仿对象不同，可分为仿鱼型、仿多足爬行动物型以及仿软体动物等类别，本文旨在综述仿生水下机器人的研究进展包括一些新型仿生水下机器人及其推进方式和未来发展趋势。已有研究表明，仿生水下机器人通过模拟水生生物的游动方式、感知机制和行为特性，展现出较传统水下设备更高的机动性、适应性和智能水平，具有重要的科研价值和巨大的实际应用潜力。
Compared with traditional axial propeller underwater vehicles, biomimetic underwater robots have quieter driving, higher propulsion efficiency, and stronger maneuverability. Biomimetic underwater robots are gradually becoming an important tool for underwater exploration and operations. Biomimetic underwater robots can be classified into fish like, multi legged reptile like, and mollusk like categories based on their imitation objects. This paper aims to review the research progress of biomimetic underwater robots, including some new biomimetic underwater robots, their propulsion methods, and future development trends. Existing research has shown that biomimetic underwater robots demonstrate higher maneuverability, adaptability, and intelligence levels than traditional underwater equipment by simulating the swimming patterns, perception mechanisms, and behavioral characteristics of aquatic organisms. They not only have important scientific research value, but also have enormous practical application potential.
2025,47(20): 21-30 收稿日期：2024-10-16
DOI：10.3404/j.issn.1672-7649.2025.20.004
分类号：U674.7；TP242
作者简介：王储(2001-),男,硕士,研究方向为潜水器设计及控制
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