A visually guided swimming robot

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

90 Scopus citations


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 servobased 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.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)0780389123, 9780780389120
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS


  • Aquatic robot
  • Autonomous robot
  • Robotic sensing


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