Journal of Zhejiang University SCIENCE  A

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A bioinspired SMA-driven underwater soft robot enabled by pectoral-caudal fin coordination and passive liquid thermal management


Author(s):  Xia HUANG1, Guan HUANG1, Zhigang DING2, Shaojie GU3, Jun DING1, Yanhong PENG1, 3, 4, Zebing MAO5

Affiliation(s):  1College of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, China 2Nantong Public Transportation Group Co., Ltd., Nantong 226000, China 3Magnesium Research Center, Kumamoto University, Kumamoto 860-8555, Japan 4Department of Information and Communication Engineering, Graduate School of Engineering, Nagoya University, Nagoya 464-8603, Japan 5State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):  Yanhong PENG, yhpeng@nagoya-u.jp Zebing MAO, mao.z.aa@zju.edu.cn

Key Words:  Adaptive design; Tolerance; Condition-driven; Precision stamping process


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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,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2600028

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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

Cited: 0

Clicked: 26

Citations:  Bibtex RefMan EndNote GB/T7714

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