Development of Biomimetic Fin-Type Amphibious Robot for Precise Path Following Missions

摘要

This paper describes the development of an underwater fin-type robot that can swim along a given path with localization and walk on the seabed to inspect the seabed precisely. Oscillating fin systems were designed to generate enough thrust considering the dynamics model of the robot. Then, methods for basic movements, path following, and seabed missions were proposed. Sea trials demonstrated the capability of basic motions, such as surge, heave, and yaw, with localization. Moreover, it appeared that walking on the seabed is also feasible, depending on the fin design and the fin oscillation.