本論文的研究是以研發用胸鰭擺動，來達成水中活動目的之仿生魟魚型機器人，同時針對此種胸鰭推進類型機器人的特性進行研究與實驗。在本論文機器人設計上，嘗試設計使用機構來同時解決鰭面角度與擺動控制問題與減輕馬達負擔，並以此機構為出發點，使用PIC16F87XA晶片為控制核心，結合無線通訊模組與紅外線感測器，使機器人除了能夠接收使用者命令而行動外，也能在水中自行活動並迴避障礙物之目的，並能讓使用者同步獲得機器人周遭環境資訊。
本論文最後以各種運動模式實驗展現本機器人所具有的水中活動能力，並探討此類型機器人所具有的特性與問題。

The purpose of this thesis is to research and develop a ray-type biomimetic robot whose propulsive power is based on the swing of the pectoral fins and to discuss and verify the feature of the MPF(Median and/or Pectoral Fin) robot. The design of the ray-type robot employs a mechanism which not only can control the angle of the petoral fin, swing it, but also can reduce the loading on motors at the same time. The robot uses PIC16F87XA as the core controller and combines wireless communication modules, and IR sensors fot its performance. These make the robot can not only act upon user’s command but also swim in the water by itself. In addtion, users can have the same underwater information as the robot has synchronally.
This thesis shows the robot’s underwater maneuverability and stabality with experiments and discusses the feature and the problems of the MPF robots.

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