中文摘要：

胸鳍摆动推进模式鱼类兼具高机动性、高效率和较高运动速度等优势特征,以此种鱼类为自然原型构建仿生机器鱼成为水下机器人研究领域的一个热点问题。通过对牛鼻鲼生物学研究成果的总结和实地观测分析,得出胸鳍摆动推进模式鱼类的典型身体结构特征和运动变形规律。系统总结胸鳍摆动推进模式仿生鱼研究领域中摆动胸鳍功能单元理论和试验研究情况以及仿生鱼样机构建的国内外研究现状。着重介绍研究小组在胸鳍摆动推进仿生鱼研究中所取得的阶段性成果,并在游动速度方面与本领域内的其他样机进行对比。通过对当前胸鳍摆动推进仿生鱼研究成果进行分析,得出现有仿生样机与自然原型存在差距的主要原因。随着研究的不断深入,胸鳍摆动推进仿生鱼样机性能与自然原型之间的差距必将逐渐缩小,实际应用前景广阔。

英文摘要：

Research on bionic fish propelled by oscillating paired pectoral foils becomes a hotpot,for their outstanding characteristics of high maneuverability,high efficiency and velocity.Based on summarizing the biological research achievements and field observation of cow-nosed ray,typical structure and movement characteristics of fish with oscillating paired pectoral foils are obtained.Research status at home and abroad in this research field,including the theoretical and experimental research of single pectoral foil and bionic fish prototypes constructed are systematically summarized.Stage achievements of bionic prototypes of this kind developed by the research team are emphatically introduced,and compared with other prototypes in aspect of swimming speed.According to analysis of the research status,the major reasons causing gaps between bionic prototypes and their nature samples are summarized.Along with deep going of research,the gap between the bionic prototype and its nature sample will be reduced.Broad practical application prospects can be expected.