Abstract
The locomotion for many modern robotic systems is optimized for a single target domain - aerial, surface or underwater. In this work, we address the challenge of developing a robotic system capable of controlled motion in air and underwater. Further, we explore the particular challenge of dynamic transitions between air and water. We propose Dipper, an aerial-aquatic hybrid vehicle. Dipper is a lightweight fixed-wing unmanned aerial vehicle (UAV) with actively swept wings. The bio-inspired system is not only capable of maneuvering efficiently during flight and underwater, but can also perform dynamic aerial-aquatic transitions. We describe the design, construction and testing of the Dipper prototype, and demonstrate repeatability and robustness especially during the transition phases. Show more
Publication status
publishedExternal links
Book title
Proceedings of Robotics: Science and Systems XVIIPages / Article No.
Publisher
Robotics: Science and Systems FoundationEvent
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