A Bio-inspired Underwater Robot for Station keeping with Omnidirectional Disturbances

Project: Research project

Project Details


Autonomous underwater vehicles are unable to perform tasks in cluttered conditions, particularly in current. This is common in riverine and littoral zones, and around structures near wind-induced water flows. Over the past decade our group has measured and modeled the capabilities of a fish that we have shown can both move and sense omnidirectionally. This system is an ideal basis for a bio-inspired approach to building a robot capable of working in these conditions. We propose (1) building an autonomous undulatory robot using a novel high density actuator (fishing line actuators) for 102 independent degrees of freedom, enabling unparalleled agility and (2) applying advanced nonlinear control methods our group has developed to enable station-keeping in the presence of omnidirectional fluid perturbations.
Effective start/end date5/1/143/31/18


  • Office of Naval Research (N00014-16-1-2132-P00002)


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