A Bio-inspired Robotic Electric Ray Design of Multimodal Locomotion with Grasping Function
Yuyang Mo, Xing Xie, Zicun Hong, Huiping Zhuang, Yong Zhong
Abstract
In nature, fish locomotion is primarily classified into the BCF (body and caudal fin) propulsion mode and the MPF (median and paired fin) propulsion mode. This paper presents a bio-inspired robotic electric ray that integrates a BCF-mode caudal fin with MPF-mode pectoral fins. The caudal fin consists of a set of wire-driven, multi-joint active segments coupled with a soft, compliant segment, while each symmetrical pectoral fin incorporates two sets of wire-driven joints and a soft fin structure. The undulatory motion of the MPF-mode pectoral fins enables the robotic ray to execute maneuvers such as forward swimming, backward swimming, and in-place turning, whereas the BCF-mode caudal fin enhances linear swimming and turning capabilities. Experimental results demonstrate that MPF-mode swimming achieves a maximum speed of 0.190 m/s (0.358 BL/s), while the cooperative propulsion of MPF and BCF modes enables speeds of up to 0.352 m/s (0.664 BL/s). Notably, the robotic electric ray's large pectoral fins can function as grippers, allowing it to grasp and transport objects using caudal fin propulsion, thereby facilitating object manipulation tasks.
BibTeX
@inproceedings{iros2025_abioinspiredrobo,
title = {A Bio-inspired Robotic Electric Ray Design of Multimodal Locomotion with Grasping Function},
author = {Yuyang Mo and Xing Xie and Zicun Hong and Huiping Zhuang and Yong Zhong},
booktitle = {IROS 2025},
year = {2025}
}