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AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
Robotics · Submitted 27 Sep 2024
abstract compiled · 2026-09-23 · no language-model review
The authors' main claim Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.
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This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.
background contribution method result interpretation main claim
| # | sentence | role | the authors' own work | states the main conclusion | strength |
|---|---|---|---|---|---|
| s0 | This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. | contribution 1.00 | 0.72 | 0.12 | asserted 1.00 |
| s1 | The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. | method 0.72 | 0.53 | 0.03 | asserted 1.00 |
| s2 | This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. | method 0.54 | 0.34 | 0.04 | asserted 1.00 |
| s3 | AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. | contribution 0.66 | 0.58 | 0.03 | asserted 1.00 |
| s4 | The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. | method 0.72 | 0.60 | 0.05 | asserted 1.00 |
| s5 | Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. | method 0.55 | 0.30 | 0.04 | asserted 0.99 |
| s6 | Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration. | interpretation 0.67 | 0.96 | 0.79 | hedged possibility 0.81 |
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Original abstract
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.
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In this paper, we introduce AquaMILR+ (Fig. [ref]), an untethered, limbless underwater robot designed to overcome these challenges (built upon previous works [ref] ).
AquaMILR: Mechanical intelligence simplifies control of undulatory robots in cluttered fluid environments · Introduction · 0.97
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