A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module
Hu, Junzhe Chen, Pengyu Feng, Tianxiang Wen, Yuxuan Wu, Ke Dong, Janet
Hu, Junzhe
Chen, Pengyu
Feng, Tianxiang
Wen, Yuxuan
Wu, Ke
Dong, Janet
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Department
Robotics
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Conference proceeding
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Abstract
In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reducing harm to marine life. The AALR’s innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with iterative improved dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR’s swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR’s effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.
Citation
J. Hu, P. Chen, T. Feng, Y. Wen, K. Wu, J. Dong, "A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module," 2025, pp. 15746-15752.
Source
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference
International Conference on Intelligent Robots and Systems (IROS)
Keywords
40 Engineering, 4009 Electronics, Sensors and Digital Hardware, 14 Life Below Water
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Source
International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE