Abstract
With the continuous deepening of ocean exploration, submersibles have become essential tools that have garnered considerable attention in the academia. As of the 2020s, driven by advancements in materials and various disciplines, the development of submersibles has undergone important transformations compared to their initial state. In this paper, we provide a comprehensive review of the developments in submersible technology from a historical point of view. In particular, we emphasize the emergence of the robotic fish-type submersibles. This process is characterized by the fusion of biomimicry and advanced technologies, and represents the future direction of submersible developments. Thus, we also emphasize the key technological challenges that robotic fish-type submersibles should focus on. Finally, we outline a general procedure for developing biomimetic robotic fish-type submersibles by drawing insights from a recent 2,000-m biomimicry prototype study. We hope to pave a smoother path for the future advancement of submersibles.
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