A visually guided swimming robot

Author

Dudek, Gregory ; Jenkin, Michael ; Prahacs, Chris ; Hogue, Andrew ; Sattar, Junaed ; Giguere, Philippe ; German, Andrew ; Liu, Hui ; Saunderson, Shane ; Ripsman, Arlene ; Simhon, Saul ; Torres, Luz-Abril ; Milios, Evangelos ; Zhang, Pifu ; Rekletis, Ioann

Author_Institution

Sch. of Comput. Sci., McGill Univ., Montreal, Que., Canada

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

3604

Lastpage

3609

Abstract

We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic and logistic obstacles encountered, and provides an overview of some of the basic capabilities of the vehicle and its associated sensors. Moreover, this paper presents the first ever amphibious transition from walking to swimming.

Keywords

mobile robots; robot vision; servomechanisms; underwater vehicles; AQUA; amphibious operation robot; aquatic robot; autonomous robot; mobile robot; servo-based guidance; underwater navigation; visual sensors; visually guided swimming robot; walking robot; Aquatic automobiles; Communication system control; Computer science; Computer vision; Legged locomotion; Marine vehicles; Navigation; Remotely operated vehicles; Robot sensing systems; Robot vision systems; aquatic robot; autonomous robot; robotic sensing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545231

Filename

1545231