Fin Ray

Fin rays, the bony supports within fish fins, are the subject of intense research due to their crucial role in efficient and versatile aquatic locomotion. Current studies focus on replicating their complex mechanics, particularly through bio-inspired robotic designs employing origami-based actuators and advanced control algorithms like asynchronous parallel reinforcement learning to optimize propulsive performance. This research aims to understand the intricate interplay between fin ray kinematics, hydrodynamics, and control strategies, ultimately informing the development of more efficient underwater robots and providing deeper insights into the principles of biological locomotion. The resulting advancements have implications for robotics, biomechanics, and the design of energy-efficient aquatic vehicles.