The bionic propulsion method is introduced into
the design of the AUG, and and the hydrofoil’s flapping
is used to increase the AUG’s advancing speed.
The hydrofoil’s motion is the combination of the heaving
motion along the Y axis and the pitching motion
around the Z axis, both directions of motion are sinusoidal,
with a phase lag in the same motion cycle. The
equations of the heave motion and the pitch motion
are, respectively: