Core Viewpoint - The article discusses the development of a new type of artificial lateral line (ALL) sensor for robotic fish, which enhances their ability to perceive flow velocity in complex underwater environments, thereby improving navigation and control capabilities [4][7][8]. Group 1: Challenges in Underwater Robotics - The complexity of underwater environments poses significant challenges to the perception capabilities of robotic fish, particularly in flow velocity sensing, which directly affects adaptability and task execution [3]. - Existing ALL sensors face interference from the robotic fish's own movements and surrounding turbulence, necessitating the development of a sensor that can effectively decouple flow velocity from noise [3][4]. Group 2: New Sensor Development - Researchers from Zhejiang University proposed a magnetic ALL sensor based on tactile sensing principles, which possesses flow velocity decoupling capabilities [4][6]. - The magnetic ALL sensor utilizes a three-layer composite structure, enabling it to distinguish between true flow velocity signals and noise from the fish's movements and surrounding turbulence [9][12]. Group 3: Experimental Validation - The ALL array system demonstrated an average absolute error (MAE) of 0.0153 m/s for flow velocity measurement during straight swimming and 0.0125 m/s during turning maneuvers, indicating high precision [6][18]. - The sensor array was integrated into a robotic fish prototype, which was tested in a controlled environment, achieving effective flow velocity and trajectory sensing [13][20]. Group 4: Performance Comparison - The ALL array system showed superior performance in both towed and free-swimming states, with MAE values of 0.0076 m/s and 0.0095 m/s for velocity measurements, respectively, indicating minimal impact from the fish's own motion [20][23]. - The integration of multiple sensors improved measurement accuracy and stability, reducing fluctuations in results [18][23].