AQUA: An Amphibious Autonomous Robot

Authors:
Gregory Dudek;Philippe Giguere;Chris Prahacs;Shane Saunderson;Junaed Sattar;Luz-Abril Torres-Mendez;Michael Jenkin;Andrew German;Andrew Hogue;Arlene Ripsman;Jim Zacher;Evangelos Milios;Hui Liu;Pifu Zhang;Marti Buehler;Christina Georgiades
Affiliations:
McGill University;McGill University;McGill University;McGill University;McGill University;McGill University;York University;York University;York University;York University;York University;Dalhousie University;Dalhousie University;Dalhousie University;Boston Dynamics;MathWorks
Venue:
Computer
Year:
2007

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Abstract

AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion,can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensorsto estimate its position with respect to local visual features and provide a global frame of reference.