Journal article
Development of a Bio-robotic Swimmer Based on the Maneuverability of the California Sea Lion
Bioinspiration & biomimetics, v 21(4), Forthcoming
03 Jun 2026
PMID: 42235578
Abstract
The development of unmanned underwater vehicles (UUVs) capable of operating in complex environments, such as coastal regions with obstacles and dynamic flows, requires new and effective maneuvering techniques to overcome the limitations of current underwater systems. UUVs that can operate in these zones have broad applications, including environmental monitoring, defense, and infrastructure inspection. By studying the swimming and maneuvering strategies of marine organisms, researchers can develop UUVs that integrate biologically inspired characteristics to enhance performance. The California sea lion (Zalophus californianus) was selected as a biological model due to its swimming and maneuvering capabilities in both the open ocean and through the high-energy surf zone. This paper presents the development and validation of a novel, multi-bodied, bio-robotic system with flipper-based propulsion modeled after the California sea lion. An articulatable head and pelvis, flexible fore flippers that generate 3D forces, and adjustable hind flippers were identified as potential contributors to its mobility, as supported by existing research and video analysis. Through a variety of tests, the system demonstrated its ability to serve as a research platform for systematically evaluating how these features influence swimming and maneuvering. Experimental results demonstrate its ability to use hydrostatic and hydrodynamic forces to move repeatably in 3D space, providing a foundation for assessing the role of body articulation and flipper movements in underwater locomotion.
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Details
- Title
- Development of a Bio-robotic Swimmer Based on the Maneuverability of the California Sea Lion
- Creators
- Nicholas Marcouiller (Corresponding Author) - Drexel UniversityShraman Kadapa - Drexel UniversityAnthony C Drago - Drexel UniversityFrank E Fish - West Chester UniversityMegan Clare Leftwich - George Washington UniversityHarry G Kwatny - Drexel UniversityJames L Tangorra - Drexel University
- Publication Details
- Bioinspiration & biomimetics, v 21(4), Forthcoming
- Publisher
- IOP Publishing
- Number of pages
- 24
- Grant note
- Office of Naval Research: Grant Number N00014-24-1-2536
This research was funded by the Office of Naval Research (Dr Tom McKenna, Program Officer, Office of Naval Research, Code 341, Grant Number N00014-24-1-2536). The funder played no role in study design, data collection, analysis and interpretation of data, or the writing of this manuscript.
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:001808871200001
- Other Identifier
- 991022191172204721