Review of bioinspired aquatic jumping robots

Abstract

In natural, aquatic and amphibians creatures have evolved exceptional impulsive-based, momentum-based, and mixed water-air cross domain locomotion capabilities through long-term natural selection, providing significant reference and inspiration for the design of aquatic jumping robots. In recent years, inspired by nature and biology, researchers have turned to jumping as a potential mode of locomotion for aquatic robots, aiming to improve their adaptability across water-air environment. However, the performance of these robots remains significantly limited, far from meeting practical application requirements, due to issues like inadequate propulsion efficiency, high structural resistance, and excessive weight. This paper summarizes the key features of bioinspired aquatic jumping robots, including their bioinspired structural designs, jumping mechanisms, and actuators, while evaluating their jumping performance. Finally, the current challenges are analyzed, and future prospects for development are discussed.

Keywords

Aquatic and amphibians / Aquatic jumping robots / Water-air environment / Bioinspired structural

CRediT authorship contribution statement

Tao Zhang: Writing - review & editing, Writing - original draft. Jiawei Dong: Writing - review & editing, Writing - original draft. Qianqian Chen: Investigation, Data curation. Xiongqian Wu: Data curation. Shuqi Wang: Writing - review & editing, Data curation. Yisheng Guan: Investigation, Data curation.

Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Acknowledgments

This research was support by the National Natural Science Foundation of China (52275011), Natural Science Foundation of Guangdong Province (2023B1515020080), Young Elite Scientists Sponsorship Program by CAST (2021QNRC001), Guangdong Basic and Applied Basic Research Foundation (2023A1515011253), Higher Education Institution Featured Innovation Project of Department of Education of Guangdong Province (2023KTSCX138), Natural Science Foundation of Guangzhou (2024A04J2552) and Fundamental Research Funds for the Central Universities.

References

[1] B. Chang, J. Myeong, E. Virot, C. Clanet, H. Kim, S. Jung, Jumping dynamics of aquatic animals, J. R. Soc. Interface 16 (152) (2019) 2190014.

[2] S. Nauwelaerts, J. Scholliers, P. Aerts, A functional analysis of how frogs jump out of water, Biol. J. Linnean Soc. 83 (3) (2004) 413-420.

[3] F.E. Fish, J.J. Rohr, Review of dolphin hydrodynamics and swimming performance, 1999.

[4] J.J. Videler, Fish Swimming, Springer Science & Business Media, 1993.

[5] Y. Song, H. Wang, Z. Dai, A. Ji, H. Wu, S.N. Gorb, Multiple forces facilitate the aquatic acrobatics of grasshopper and bioinspired robot, Proc. Natl. Acad. Sci. 121 (14) (2024) e2313305121.

[6] M.A. Robertson, F. Efremov, J. Paik, RoboScallop: A bivalve inspired swimming robot, IEEE Robot. Autom. Lett. 4 (2) (2019) 2078-2085.

[7] J. Yan, K. Yang, X. Zhang, X. Zhang, J. Zhao, A new type large-scale water-jumping robot design and simulation, in: IEEE International Conference on Real-Time Computing and Robotics, 2018, pp. 177-182.

[8] J. Liang, X. Yang, T. Wang, G. Yao, Design and experiment of a bionic gannet for plunge-diving, J. Bionic Eng. (2013) 282-291.

[9] W. Wang, W. Li, J. Xu, J. Dong, C. Xiang, Y. Guan, T. Zhang, Design and implementation of a miniature jellyfish-inspired robot, IEEE Robot. Autom. Lett. 8 (6) (2023) 3134-3141.

[10] C. Zhang, W. Zou, L. Ma, Z. Wang, Biologically inspired jumping robots: A comprehensive review, Robot. Auton. Syst. 124 (2020) 03362.

[11] J.K. Yim, B.R.P. Singh, E.K. Wang, R. Featherstone, R.S. Fearing, Precision robotic leaping and landing using stance-phase balance, IEEE Robot. Autom. Lett. 5 (2) (2020) 3422-3429.

[12] Y. Xu, Y. Zhang, Y. Si, C. Li, Q. Huang, Q. Shi, Design of a small-scale locust-inspired robot and its realization of non-flip jumping motion, J. Mech. Eng. 59 (9) (2023) 1-11.

[13] G. Nelson, A. Saunders, R. Playter, The petman and atlas robots at boston dynamics, Humanoid Robot. Ref. 2018, 169-186.

[14] M.A. Woodward, M. Sitti, Multimo-bat: A biologically inspired integrated jumping-gliding robot, Int. J. Robot. Res. 33 (12) (2014) 1511-1529.

[15] M.M. Plecnik, D.W. Haldane, J.K. Yim, R.S. Fearing, Design exploration and kinematic tuning of a power modulating jumping monopod, J. Mech. Robot. 9 (1) (2017) 011009.

[16] J. Fan, Q. Du, Z. Dong, J. Zhao, T. Xu, Design of the jump mechanism for a biomimetic robotic frog, Biomimetics 7 (4) (2022) 142.

[17] K. Yang, G. Liu, J. Yan, T. Wang, X. Zhang, J. Zhao, A water-walking robot mimicking the jumping abilities of water striders, Bioinspir. Biomimet. 11 (6) (2016) 066002.

[18] J. Dong, L. Zhong, Q. Chen, R. Wu, X. Zheng, H. Zhu, S. Wang, T. Zhang, Design, analysis, and and tests of an impulsive aquatic jumping mechanism inspired by frog limbs, IEEE Robot. Autom. Lett. 9 (7) (2024) 6344-6351.

[19] T. Hou, X. Yang, H. Su, B. Jiang, L. Chen, T. Wang, J. Liang, Design and experiments of a squid-like aquatic-aerial vehicle with soft morphing fins and arms, in: International Conference on Robotics and Automation, ICRA, 2019, pp. 4681-4687.

[20] J.S. Koh, E. Yang, G.P. Jung, S.P. Jung, J.H. Son, S.I. Lee, P.G. Jablonski, R.J. Wood, H.Y. Kim, K.J. Cho, Jumping on water: Surface tension-dominated jumping of water striders and robotic insects, Science 349 (6247) (2015) 517-521.

[21] D. Chen, Z. Wu, H. Dong, Y. Meng, J. Yu, Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins, Bioinspiration Biomim. 18 (3) (2023) 036010.

[22] J. Yu, Z. Wu, Z. Su, T. Wang, S. Qi, Motion control strategies for a repetitive leaping robotic dolphin, IEEE/ASME Trans. Mechatronics 24 (3) (2019) 913-923.

[23] E. Stell, Leaping behavior in silver carp (hypophthalmichthys molitrix): analysis of burst swimming speeds, angle of escape, height, and distance of leaps, 2018.

[24] S. Schuster, Archerfish, Curr. Biol. 17 (13) (2007) 494-495.

[25] A.C. Pooley, C. Gans, The nile crocodile, Sci. Am. 234 (4) (1976) 114-125.

[26] T.T. Truscott, B.P. Epps, R.H. Munns, Water exit dynamics of buoyant spheres, Phys. Rev. Fluids 1 (7) (2016) 074501.

[27] M.A. Akbari, J. Mohammadi, J. Fereidooni, A dynamic study of the high-speed oblique water entry of a stepped cylindrical-cone projectile, J. Braz. Soc. Mech. Sci. Eng. 43 (2021) 1-15.

[28] R.L. Marsh, H.B. John-Alder, Jumping performance of hylid frogs measured with high-speed cine film, J. Exp. Biol. 188 (1) (1994) 131-141.

[29] D. Weihs, Dynamics of dolphin porpoising revisited, Integr. Comparat. Biol. 42 (5) (2002) 1071-1078.

[30] K.C. Wilkinson, A kinematic and kinetic analysis of a frog launching from water using digital particle image velocimetry, Northern Arizona University, 2014.

[31] S.J. Kim, J. Hasanyan, B.J. Gemmell, S. Lee, S. Jung, Dynamic criteria of plankton jumping out of water, J. R. Soc. Interface 12 (111) (2015) 20150582.

[32] I. Marine, Seabird foraging tactics and water clarity: are plunge divers really in the clear? Mar. Ecol. Prog. Ser. 49 (1988) 1-9.

[33] J. Davenport, How and why do flying fish fly? Rev. Fish Biol. Fish. 4 (1994) 184-214.

[34] C.P. Kofron, Behavior of Nile Crocodiles in a Seasonal River in Zimbabwe, Copeia, 1993, pp. 463-469.

[35] U.D.V. Pienaar, Predator-prey relationships amongst the larger mammals of the kruger national park, Koedoe 12 (1) (1969) 108-176.

[36] K. Kagaya, S.N. Patek, Feed-forward motor control of ultrafast, ballistic movements, J. Exp. Biol. 219 (2015) 319-333.

[37] E. Steinhardt, N.S.P. Hyun, J.S. Koh, G. Freeburn, M.H. Rosen, F.Z. Temel, S.N. Patek, R.J. Wood, A physical model of mantis shrimp for exploring the dynamics of ultrafast systems, Proc. Natl. Acad. Sci. 188 (2021) e2026833118.

[38] D.L. Hu, J.W. Bush, The hydrodynamics of water-walking arthropods, J. Fluid Mech. 644 (2010) 5-33.

[39] J. Brackenbury, H. Hunt, Jumping in springtails: mechanism and dynamics, J. Zool. 229 (2) (1993) 217-236.

[40] S. Sudo, T. Kainuma, T. Yano, A. Shirai, T. Hayase, Jumps of water springtail and morphology of the jumping organ, J. Japanese Soc. Exper. Mech. 15 (2015) s117-s124.

[41] S. Vogel, Flow-assisted mantle cavity refilling in jetting squid, Biol. Bull. 172 (1) (1987) 61-68.

[42] X. Wang, J. Zhao, X. Pei, T, Wang, T. Hou, X. Yang, Bioinspiration re-view ofaquatic unmanned aerial vehicle (aquauav), in: IEEE International Conference on Robotics and Biomimetic Intelligence and Robotics, 2024, 100154.

[43] J. Liu, M. Shen, Z. Ma, X. Zhou, Research progress on bionic water strider robots, J. Bionic Eng. 21 (2) (2024) 635-652.

[44] X. Gao, L. Jiang, Water-repellent legs of water striders, Nature 432 (7013)(2004) 36.

[45] W. Yin, Y. Zheng, H. Lu, X. Zhang, Y. Tian, Three-dimensional topographies of water surface dimples formed by superhydrophobic water strider legs, Appl. Phys. Lett. 109 (16) (2016) 00.

[46] J. Jiang, Q. Tan, X. Yu, D. Wu, L. Yao, Research progress of bionic water strider robot, Bentham Sci. Publishers 15 (2) (2021) 122-148.

[47] V.M. Ortega-Jimenez, E.J. Challita, B. Kim, H. Ko, M. Gwon, J.S. Koh, M. S. Bhamla, Directional takeoff, aerial righting, and adhesion land-ing of semiaquatic springtails, Proc. Natl. Acad. Sci. 119 (46) (2022) e2211283119.

[48] S.P. Hopkin, Biology of the Springtails:(Insecta: Collembola), OUP Oxford, 1997.

[49] H.C. Astley, J.R. Thomas, Evidence for a vertebrate catapult: elastic energy storage in the plantaris tendon during frog jumping, Biol. Lett. 8 (3)(2012) 386-389.

[50] A. Herrel, M. Vasilopoulou-Kampitsi, C. Bonneaud, Jumping performance in the highly aquatic frog, xenopus tropicalis: sex-specific relationships between morphology and performance, PeerJ 2 (2014) e661.

[51] K. Muramatsu, J. Yamamoto, T. Abe, K. Sekiguchi, N. Hoshi, Y. Sakurai, Flow-assisted mantle cavity refilling in jetting squid, Marine Biol. 160 (2013) 1171-1175.

[52] E.J. Anderson, M.E. DeMont, The mechanics of locomotion in the squid loligo pealei: locomotory function and unsteady hydrodynamics of the jet and intramantle pressure, J. Exp. Biol. 203 (18) (2000) 2851-2863.

[53] R. O’Dor, J. Stewart, W. Gilly, J. Payne, T.C. Borges, T. Thys, Squid rocket science: how squid launch into air, Deep Sea Res. Part II: Topical Stud. Oceanogr. 95 (2013) 113-118.

[54] C.S. Wardle, Limit of fish swimming speed, Nature 255 (5511) (1975) 725-727.

[55] W. Johnson, P.D. Soden, E.R. Trueman, A study in jet propulsion: an analysis of the motion of the squid, loligo vulgaris, J. Exp. Biol. 56 (1)(1972) 155-165.

[56] K.M. Halanych, Invertebrates; invertebrate zoology: a functional evolu-tionary approach, Syst. Biol. 53 (4) (2004) 662-664.

[57] E. Anderson, M.E. Demont, The locomotory function of the fins in the squid loligo pealei, Mar. Freshwater Behav. Physiol. 38 (3) (2005) 169-189.

[58] K. Tajima, K. Yagi, Y. Mori, Development of an impulsive motion generator inspired by cocking slip joint of snapping shrimp, Bioinspiration Biomim. 18 (6) (2023) 066002.

[59] T. Kaji, A. Anker, C.S. Wirkner, P.A. Richard, Parallel saltational evolution of ultrafast movements in snapping shrimp claws, Curr. Biol. 28 (2018) 106-113.

[60] E.J. Buskey, P. Lenz, Hartline, D.K. Hartline, Escape behavior of planktonic copepods in response to hydrodynamic disturbances: high speed video analysis, Mar. Ecol. Prog. Ser. 235 (2002) 135-146.

[61] G.A. Boxshall, D. Defaye, Global diversity of copepods (crustacea: Copepoda) in freshwater, Freshwater Animal Divers. Assess. (2008) 195-207.

[62] J. Yu, Z. Su, Z. Wu, M. Tan, Development of a fast-swimming dolphin robot capable of leaping, IEEE/ASME Trans. Mechatronics 21 (5) (2016) 2307-2316.

[63] F.E. Fish, C.A. Hui, Dolphin swimming-a review, Mammal Rev. 21 (4)(1991) 181-195.

[64] P.W. Webb, Form and function in fish swimming, Sci. Am. 251 (1) (1984) 72-83.

[65] R.W. Blake, Fish locomotion, CUP archive, 1983.

[66] V. Saro-Cortes, Y. Cui, T. Dufficy, A. Boctor, B.E. Flammang, A. Wissa, An adaptable flying fish robotic model for aero-and hydrodynamic experimentation, Integr. Comp. Biol. 62 (5) (2022) 1202-1216.

[67] K. Sato, P.J. Ponganis, Y. Habara, Y. Naito, Emperor penguins adjust swim speed according to the above-water height of ice holes through which they exit, J. Experiment. Biol. 208 (13) (2005) 2549-2554.

[68] K. HüMMA, Biology of the manta ray, manta birostris walbaum, in: Indo-Pacific. IshConferenCe, 1997, p. 209.

[69] F.S. Gharehchopogh, S. Ghafouri, M. Namazi, B. Arasteh, Advances in manta ray foraging optimization: A comprehensive survey, J. Bionic Eng. 21 (2) (2024) 953-990.

[70] J.M. Brunnschweiler, Water-escape velocities in jumping blacktip sharks, J. R. Soc. Interface 2 (4) (2005) 389-391.

[71] D.R. Nelson, Shark attack and repellency research: an overview, J. R. Soc. Interface 2019, 11-74.

[72] H. Whitehead, Why whales leap, Sci. Am. 252 (3) (1985) 84-93.

[73] H. Whitehead, Humpback whale breaching, Investigat. Cetacea 17 (1985) 117-155.

[74] B. Shin, H.Y. Kim, K.J. Cho, Towards a biologically inspired small-scale water jumping robot, in: IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, pp. 127-131.

[75] J. Zhao, X. Zhang, N. Chen, Q. Pan, Why superhydrophobicity is cru-cial for a water-jumping microrobot? Experimental and theoretical investigations, ACS Appl. Mater. Interfaces 4 (7) (2012) 3706-3711.

[76] J. Yan, T. Wang, X. Zhang, J. Zhao, Structural design and dynamic anal-ysis of biologically inspired water-jumping robot, in: IEEE International Conference on Information and Automation, ICIA, 2014, pp. 1295-1299.

[77] F. Jiang, J. Zhao, A.K. Kota, N. Xi, M.W. Mutka, L. Xiao, A miniature water surface jumping robot, IEEE Robot. Autom. Lett. 2 (2017) 1272-1279.

[78] J. Yan, X. Zhang, H. Yao, K. Yang, A robot jumping and sliding on the water surface, 2019, China Patent, 110979662A.

[79] R. Siddall, M. Kovac, Fast aquatic escape with a jet thruster, IEEE/ASME Trans. Mechatronics 22 (1) (2016) 217-226.

[80] R. Zufferey, A.O. Ancel, A. Farinha, R. Siddall, S.F. Armanini, M. Nasr, R.V. Brahmal, G. Kennedy, M. Kovac, Consecutive aquatic jump-gliding with water-reactive fuel, Science Robotics 4 (34) (2019) eaax7330.

[81] X. Wang, X. Pei, J. Wu, X. Wang, T. Hou, Design, fabrication and fine-tuning of an aerial-aquatic explosive water-jet thruster with repeatable propulsion capability, in: IEEE International Conference on Robotics and Biomimetics, 2023, pp. 1-6.

[82] L. Tedesco, Zooplankton dilemma in the twilight, Nature Clim. Change 33 (10) (2024) 1023-1024.

[83] Z. He, Y. Yang, P. Jiao, H. Wang, G. Lin, T. Pähtz, Copebot: Underwater soft robot with copepod-like locomotion, Soft Robot. 10 (2) (2023) 314-325.

[84] M.C. Kondratieff, C.A. Myrick, How high can brook trout jump? A laboratory evaluation of brook trout jumping performance, Trans. Am. Fisheries Soc. 135 (2) (2006) 361-370.

[85] D. Soares, H.S. Bierman, Aerial jumping in the trinidadian guppy (poecilia reticulata), PLoS One 8 (4) (2013) e.61617.

[86] A.M. Shih, L. Mendelson, Archer fish jumping prey capture: kinematics and hydrodynamics, J. Exp. Biol. 220 (8) (2007) 1411-1422.

[87] L.M. Dill, Refraction and the spitting behavior of the archerfish (toxotes chatareus), Behav. Ecol. Sociobiol. 2 (1977) 169-184.

[88] J. Dewenter, P. Gerullis, A. Hecker, Archerfish use their shooting tech-nique to produce adaptive underwater jets, J. Exp. Biol. 220 (6) (2017) 1019-1025.

[89] A.M. Shih, A.H. Techet, Characterization of the jumping behavior of archer fish, toxotes microlepis,in: The 6th World Congress of Biomechanics, WCB 2010, 2010, pp. 1-6.

[90] V. Dinets, Apparent coordination and collaboration in cooperatively hunting crocodilians, Ethol. Ecol. Evol. 27 (2) (2015) 244-250.

[91] B. Cott, Scientific results of an inquiry into the ecology and economic status of the nile crocodile (crocodilus niloticus) in Uganda and Northern Rhodesia, Trans. Zool. Soc. London 29 (4) (1961) 211-356.

[92] S. Wanless, F. Daunt, C.J. Camphuysen, Setting the scene(3): Colony based and at-sea data on seabirds, 27 (5), 2005, pp. 88-134.

[93] R. Schreiber, The Sulidae: Gannets and Boobies, vol. 154 (1979) 634-637.

[94] E.A. Schreiber, J. Burger, Biology of Marine Birds, CRC Press, 2001.

[95] R. DeLorenzo, The loch ness monster, gannets, and [boyle]’s law, J. Chem. Educ. 66 (7) (1989) 570.

[96] D. Lee, P. Reddish, Plummeting gannets: a paradigm of ecological optics, Nature (1981) 293-294.

[97] Y. Ropert-Coudert, F. Daunt, A. Kato, P.G. Ryan, K. S. Lewis, Y. Kobayashi, D. Mori, S. Wanless Grémillet, Underwater wingbeats extend depth andduration of plunge dives in northern gannets morus bassanus, J. Avian Biol. 40 (4) (2009) 380-387.

[98] Y. Ropert-Coudert, D. Grémillet, P. Ryan, A. Kato, Y. Naito, Y. Le Maho, Be-tween air and water: The plunge dive of the cape gannet moruscapensis, lbis 146 (2) (2004) 281-290.

[99] D.L. Hu, B. Chan, J.W.M. Bush, The hydrodynamics of water strider locomotion, Nature 424 (6949) (2003) 663-666.

[100] Y.S. Song, M. Sitti, Surface-tension-driven biologically inspired water strider robots: Theory and experiments, IEEE Trans. Robotics 23 (3) (2007) 578-589.

[101] L. Wu, Z. Lian, H. Yuan, S. Wang, G. Yang, A non-tethered telecontrollable water strider robot prototype, in:International Conference on Intelligent Control and Information Processing, 2010, pp. 792-797.

[102] J.M. Gosline, M.E. DeMont, Jet-propelled swimming in squids, Sci. Am. 252 (1) (1985) 96-103.

[103] R.K. O’Dor, How squid swim and fly, Canadian J. Zool. 91 (6) (2013) 413-419.

[104] J. Wu, X. Wang, X. Pei, T. Hou, Design and simulation analysis of mantle cavity of jet thruster, in:International Conference on Frontiers of Robotics and Software Engineering, 2023, pp. 347-354.

[105] X. Wang, X. Pei, R. Zhu, T. Hou, X. Yang, Cavity-membrane-based water-jet bio-inspired thruster with multidirectional accelerating capability, IEEE/ASME Trans. Mechatronics (2023) 1-12.

[106] A. Gao, A.H. Techet, Design considerations for a robotic flying fish, in: OCEANS’11 MTS/IEEE KONA, 2011, pp. 1-8.

[107] D. Chen, Z. Wu, Y. Meng, M. Tan, J. Yu, Development of a high-speed swimming robot with the capability of fish-like leaping, IEEE/ASME Trans. Mechatronics 27 (5) (2022) 3579-3589.

[108] T.H. Pham, K. Nguyen, H.C. Park, A robotic fish capable of fast underwater swimming and water leaping with high froude number, Ocean Eng. 268 (2023) 113512.

[109] K. Nguyen, H.C. Park, Feasibility study on mimicking the tail-beating supported gliding flight of flying fish, Ocean Eng. 287 (2023) 115745.

[110] Z. He, G. Lin, Y. Yang, P. Jiao, Leaping fishbot by combustion and propulsion hybrid actuation, J. Field Robotics 41 (2) (2024) 288-299.

[111] J. Yu, T. Wang, D. Chen, Y. Meng, Quantifying the leaping motion using a self-propelled bionic robotic dolphin platform, Biomimetics 8 (1) (2023) 21.

[112] J. Yu, Y. Hu, R. Fan, L. Wang, J. Huo, Mechanical design and motion control of a biomimetic robotic dolphin, Adv. Robot. 21 (3-4) (2007) 499-513.

[113] P. Liu, K. He, X. Ou, R. Du, Mechanical design, kinematic modeling and simulation of a robotic dolphin,in: International Conference on Information and Automation, 2011, pp. 738-743.

[114] Y.J. Park, D. Park, K.J. Cho, Design and manufacturing a robotic dol-phin to increase dynamic performance, in: International Conference on Ubiquitous Robots and Ambient Intelligence, URAI, 2013, pp. 76-77.

[115] F. Shen, C. Wei, Z. Cao, C. Zhou, D. Xu, W. Zhang, Water quality monitoring system based on robotic dolphin, in: 2011 9th World Congress on Intelligent Control and Automation, IEEE, 2011, pp. 243-247.

[116] S. Zimmerman, A. Abdelkefi, Review of marine animals and bioinspired robotic vehicles: Classifications and characteristics, Prog. Aerosp. Sci. 93 (2017) 95-119.

[117] G. Yao, J. Liang, T. Wang, X. Yang, M. Liu, Y. Zhang, Submersible unmanned flying boat: Design and experiment, in: IEEE International Conference on Robotics and Biomimetics, ROBIO, 2014, pp. 1308-1313.

[118] Z. Wu, J. Yu, J. Yuan, M. Tan, Towards a gliding robotic dolphin: Design, modeling, and experiments, IEEE/ASME Trans. Mechatronics 24 (1) (2019) 260-270.

[119] J. Yu, Z. Su, Z. Wu, M. Tan, An integrative control method for bio-inspired dolphin leaping: Design and experiments, IEEE Trans. Ind. Electron. 63 (5)(2015) 3108-3116.

[120] A.L. Weisenhorn, P.K. Hansma, T.R. Albrecht, C.F. Quate, Forces in atomic force microscopy in air and water, Appl. Phys. Lett. 54 (26) (1989) 2651-2653.

[121] A. Elbourne, M.F. Dupont, S. Collett, V.K. Truong, X. Xu, N. Vrancken, V. Baulin, E.P. Ivanova, R.J. Crawford, Imaging the air-water interface: Characterising biomimetic and natural hydrophobic surfaces using in situ atomic force microscopy, J. Colloid Interface Sci. 536 (2019) 363-371.

[122] J.M. Pallis, R.D. Mehta, Aerodynamics and hydrodynamics in sports, The Eng. Sport 4 (2002) 31-39.

[123] Y. Liao, J. Wang, J. Lyu, W. Jiang, Z. Wu, J. Wu, High Stability in Filtration Apparatus of African Shrimp: Soft with High Aspect Ratio, Yet Stable in the Flow For Feeding, Yet Stable in the Flow For Feeding.

[124] Yifeng Liao, Jun Lyu, Yujia Zhang, Yuhe Hong, Shuoshuo Ding, Zhigang Wu, Hao Liu, Jianing Wu, Specialized spatially-arranged non-circular fibers enhance filtration performance of African shrimp (Atya gabonensis), Bioinspiration Biomim. 19 (3) (2024) 036013.

[125] R. Tong, Z. Wu, S. Li, D. Chen, J. Wang, M. Tan, J. Yu, Design and modeling of an integral molding flexible tail for robotic fish, IEEE/ASME Trans. Mechatronics (2024) 1-11, http://dx.doi.org/10.1109/TMECH.2024.3408036.

[126] Q. Jiang, T. Qiao, J. Wang, Z. Wu, H. Dong, J. Yu, Hybrid-driven motion planning for a bionic underwater vehicle with gliding ability, IEEE Trans. Veh. Technol. (2024) 1-11, http://dx.doi.org/10.1109/TVT.2024.3411569.