Implementation of Soft Robotics in an Autonomous Underwater Vehicle Based on Manta Ray Hydrodynamics

Gonzales J.; Zavaleta J.; Becerra L.; Ramos N.M.; Carrizales J.; Ronceros J. · 2025 8th International Conference on Robotics, Control and Automation Engineering, RCAE 2025 (2025) · DOI: 10.1109/rcae66389.2025.11355312

Resumen

Recent research on Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) has mainly focused on rigid structures and conventional propulsion, which often limit hydrodynamic efficiency, adaptability, and affordability due to complex components and high energy use. Many of these systems also lack bioinspired designs and flexible materials that could improve their interaction with aquatic environments. Taking inspiration from the stability and movement of manta rays, this project proposes a biomimetic AUV that combines soft robotics and variable-angle thrusters to improve hydrodynamic performance and structural simplicity. The modular platform includes two thrusters in the pectoral area for propulsion and depth control. To increase maneuverability, two soft lateral fins made of flexible materials are hydraulically actuated, replicating the stabilizing and turning functions of a manta ray's fins. A rigid rear fin, moved by a servomotor, acts as a rudder for sharper, more precise turns. This design seeks to balance mechanical simplicity, energy efficiency, and operational functionality. It integrates inertial sensors, soft actuators, and intelligent processing for navigation in shallow waters. Autodesk Inventor, ANSYS Fluent, and ANSYS Mechanical were used to design, simulate, and validate the structural and hydrodynamic performance. This bioinspired approach offers a promising step toward more versatile and accessible underwater vehicles for environmental monitoring, aquaculture inspection, and advanced marine robotics.

Instituciones: Universidad Peruana de Ciencias Aplicadas; Universidad San Ignacio de Loyola