Dynamics and simulation of biorobotic UUV

This paper describes a dynamics model of a biorobotic unmanned underwater vehicle (UUV). And a new accurate model for calculating fluid dynamics of flap-ping hydrofoil is also incorporated into the simulation. The model is used to simulate the motion of the biorobotic UUV which used a compressed body propelled by four flapping hydrofoils. We use the simulation as a predictive design tool to evaluate the maneuverability of the biorobot-ic UUV. The simulation results show that the biorobotic UUV can steadily complete the motion of change depth through using the two frontal flapping hydrofoils or using all four flapping hydrofoils. The results also show that the biorobotic UUV has excellent maneuverability at low ve-locity.