Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of ...
Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, p...
Robotic fish accomplish swimming by deforming their bodies or other fin-like appendages. As an emerging class of embedded computing system, robotic fish are anticipated to play an important role in environmental monitoring, inspection of underwater s...
This article serves as an overview of the unique challenges and opportunities made possible by a soft, jellyfish inspired, underwater robot. We include a description of internal pressure modeling as it relates to propulsive performance, leading to a ...
This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to de...
This paper proposes a hierarchical image-based visual servoing (IBVS) strategy for dynamic positioning of a fully actuated underwater vehicle. In the kinematic loop, the desired velocity is generated by a nonlinear model predictive controller, which ...
The ionic polymer-metal composite (IPMC) is a soft material based actuator and sensor and has a promising potential in underwater application. This paper describes a hybrid biomimetic underwater vehicle that uses IPMCs as sensors. Propelled by the en...
Cephalopods (i.e., octopuses and squids) are being looked upon as a source of inspiration for the development of unmanned underwater vehicles. One kind of cephalopod-inspired soft-bodied vehicle developed by the authors entails a hollow, elastic shel...
This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ...
A major difference between manmade underwater robotic vehicles (URVs) and undersea animals is the dense arrays of sensors on the body of the latter which enable them to execute extreme control of their limbs and demonstrate super-maneuverability. The...
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