Course Control of a Manta Robot Based on Amplitude and Phase Differences

Due to external interference, such as waves, the success of underwater missions depends on the turning performance of the vehicle. Manta rays use two broad pectoral fins for propulsion, which provide better anti-interference ability and turning performance. Inspired by biological yaw modes, we use the phase difference between the pectoral fins to realize fast course adjustment and the amplitude difference to realize precise adjustment. We design a bionic robot with pectoral fins and use phase oscillators to realize rhythmic motion. An expected phase difference transition equation is introduced to realize a fast and smooth transition of the output, and the parameters are adjusted online. We combine the phase difference and amplitude difference yaw modes to realize closed-loop course control. Through course interference and adjustment experiments, it is verified that the combined mode is more effective than a single mode. Finally, a rectangular trajectory swimming experiment demonstrates continuous mobility of the robot under the combined mode.