
Xia HUANG1, Guan HUANG1, Zhigang DING2, Shaojie GU3, Jun DING1, Yanhong PENG1,3,4, Zebing MAO5. A bioinspired SMA-driven underwater soft robot enabled by pectoral-caudal fin coordination and passive liquid thermal management[J]. Journal of Zhejiang University Science A, 1998, -1(-1): .
@article{title="A bioinspired SMA-driven underwater soft robot enabled by pectoral-caudal fin coordination and passive liquid thermal management",
author="Xia HUANG1, Guan HUANG1, Zhigang DING2, Shaojie GU3, Jun DING1, Yanhong PENG1,3,4, Zebing MAO5",
journal="Journal of Zhejiang University Science A",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2600028"
}
%0 Journal Article
%T A bioinspired SMA-driven underwater soft robot enabled by pectoral-caudal fin coordination and passive liquid thermal management
%A Xia HUANG1
%A Guan HUANG1
%A Zhigang DING2
%A Shaojie GU3
%A Jun DING1
%A Yanhong PENG1
%A 3
%A 4
%A Zebing MAO5
%J Journal of Zhejiang University SCIENCE A
%V -1
%N -1
%P
%@ 1673-565X
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2600028
TY - JOUR
T1 - A bioinspired SMA-driven underwater soft robot enabled by pectoral-caudal fin coordination and passive liquid thermal management
A1 - Xia HUANG1
A1 - Guan HUANG1
A1 - Zhigang DING2
A1 - Shaojie GU3
A1 - Jun DING1
A1 - Yanhong PENG1
A1 - 3
A1 - 4
A1 - Zebing MAO5
J0 - Journal of Zhejiang University Science A
VL - -1
IS - -1
SP -
EP - 0
%@ 1673-565X
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2600028
Abstract: Bioinspired robotic fish can provide compliant, low-noise underwater locomotion, but compact shape memory alloy-driven designs often suffer from slow response and poor fatigue life. We propose a grass-carp-inspired PCF soft robot to realize BCF and MPF multimodal swimming and specifically improve shape memory alloy performance via embedded thermal management. The robot integrates a shape memory alloy spring caudal-fin actuator and a large-strain shape memory alloy pectoral-fin actuator within a watertight compliant body and adopts a sealed-cavity liquid-cooling scheme. Experiments show markedly enhanced actuation bandwidth and durability, enabling stable multimodal locomotion with a 45.67 mm/s peak speed and 9.12°/s peak turning rate, plus ultrasonic-based obstacle avoidance at 20 cm. The results suggest a compact pathway to resilient, versatile underwater soft robots for long-duration operation in cluttered environments.
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On-line Access: 2026-06-15
Received: 2026-01-14
Revision Accepted: 2026-06-03
Crosschecked: 0000-00-00
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Clicked: 20
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