AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
<|reference_start|>AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation: This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.<|reference_end|>
@article{fernandez2024aquamilr+:,
    title={AquaMILR+: Design of an untethered limbless robot for complex aquatic
  terrain navigation},
    author={Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe, Donoven Dortilus,
  Peter Gunnarson, John O. Dabiri, Daniel I. Goldman},
    journal={arXiv preprint arXiv:2409.18383},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.18383},
    primaryClass={cs.RO}
}