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中文摘要：
综述了模仿鳐科和裸背鳗科鱼类的高机动性的波动运动方式设计仿生长鳍波动推进（10ng-fin undulating propulsion）系统的研究，包括长鳍波动推进系统的推进机理、长鳍波动运动的运动学和动力学研究，以及仿生长鳍波动推进实验系统的研制。在此基础上，指出了今后研究的重点——鳐科和裸背鳗科鱼类游动的运动学、动力学分析；长鳍波动推进系统的机构设计与控制方法；长鳍波动推进系统的协调控制与导航方法。
英文摘要：
The paper surveys the research advances in design of biomimetic long-fin undulating propulsion systems by imitating rajiform and gyrunotiform fishes, unique and excellently maneuverable undulating motions, including the kinematic and dynamic analyses of long fins＇ undulating motions, and the design and fabrication of experimental systems for biomimetic long-fin undulating propulsion. And on the basis of this, the focal points of the future research is given, which involve kinematic and dynamic analyses for rajiform and gymnotiform fishes, mechanical design and control of long-fin undulating propulsive systems, coordinated control and navigation control for long-fin undulating propulsive systems.
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