{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T04:35:19Z","timestamp":1787027719006,"version":"build-2736575974"},"reference-count":183,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T00:00:00Z","timestamp":1773792000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"Young Scientists Fund of the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52401393"],"award-info":[{"award-number":["52401393"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Natural Science Foundation of Hangzhou, Zhejiang Province, China","award":["2025SZRJJ1217"],"award-info":[{"award-number":["2025SZRJJ1217"]}]},{"name":"Zhejiang Province Leading Goose Plan Project","award":["2025C02017"],"award-info":[{"award-number":["2025C02017"]}]},{"name":"Scientific Research Funding Project of Westlake University","award":["WU2024A001"],"award-info":[{"award-number":["WU2024A001"]}]},{"name":"State Key Laboratory of Ocean Engineering at Shanghai Jiao Tong University","award":["GKZD010089"],"award-info":[{"award-number":["GKZD010089"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["12402284"],"award-info":[{"award-number":["12402284"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"National Key Research and Development Program of China","award":["2022YFC2805200"],"award-info":[{"award-number":["2022YFC2805200"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>As deep-sea exploration transitions from large-scale search to precision pinpoint operations, the inherent limitations of traditional \u201crigid-body and propeller\u201d vehicles\u2014specifically in low-speed maneuverability, environmental compliance, and acoustic stealth\u2014are becoming increasingly apparent. Leveraging its unique integrated \u201cgliding-flapping\u201d locomotion and exceptional maneuverability, the manta ray serves as an ideal biological prototype for next-generation deep-sea operational platforms. From a systems engineering perspective, this paper provides a comprehensive review of the current research status and technical evolution of biomimetic manta ray submersibles. First, a technical pedigree centered on \u201coperational depth\u201d is established, illustrating how design paradigms transition from \u201cmechanism replication\u201d in shallow waters to \u201cpressure adaptation\u201d at full-ocean depths. Second, the mechanical challenges in structural design are explored, demonstrating that a \u201crigid-flexible\u201d gradient distribution strategy is critical to resolving the conflict between pressure resistance and propulsive compliance. Regarding energy and propulsion, the synergistic effects of hybrid gliding-flapping drives and integrated structural batteries in enhancing long-range endurance and energy efficiency are analyzed. Finally, the evolution of motion control architectures\u2014transitioning from spinal-cord-inspired Central Pattern Generator (CPG) rhythmic control to Deep Reinforcement Learning (DRL) featuring embodied intelligence\u2014is outlined.<\/jats:p>","DOI":"10.3390\/biomimetics11030216","type":"journal-article","created":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T07:35:08Z","timestamp":1773819308000},"page":"216","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Deep-Sea Biomimetic Manta Ray Robots: A Comprehensive Review Based on Operational Depth Spectrum, Structures, Energy Optimization, and Control Systems"],"prefix":"10.3390","volume":"11","author":[{"given":"Lugang","family":"Ye","sequence":"first","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0168-0510","authenticated-orcid":false,"given":"Hongyuan","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-7286-1904","authenticated-orcid":false,"given":"Qiulin","family":"Ding","sequence":"additional","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongming","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Building Eneineering, Huanghuai University, Zhumadian 463000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5262-5235","authenticated-orcid":false,"given":"Weikun","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1871-2658","authenticated-orcid":false,"given":"Weicheng","family":"Cui","sequence":"additional","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dixia","family":"Fan","sequence":"additional","affiliation":[{"name":"Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China"},{"name":"Zhejiang Engineering Research Center of Micro\/Nano-Photonic\/Electronic System Integration, Hangzhou 310030, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,3,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"0036","DOI":"10.34133\/olar.0036","article-title":"Current Status and Technical Challenges in the Development of Biomimetic Robotic Fish-Type Submersible","volume":"3","author":"Li","year":"2024","journal-title":"Ocean-Land-Atmosphere Res."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"973","DOI":"10.1016\/j.scitotenv.2018.12.193","article-title":"Decommissioning of Offshore Oil and Gas Structures\u2014Environmental Opportunities and Challenges","volume":"658","author":"Sommer","year":"2019","journal-title":"Sci. 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