TY - GEN
T1 - A Self-Sensing Phase-Change Buoyancy System for Miniaturized Deep-sea Robotics
AU - Zuo, Zonghao
AU - He, Xia
AU - Wang, Haoxuan
AU - Zhang, Qiyi
AU - Shao, Zhuyin
AU - Wen, Li
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Buoyancy systems play a vital role in the efficient movement and control of deep-sea robots. Traditional buoyancy systems for these robots rely on high-pressure hydraulic pumps and heavy pressure-resistant shells, resulting in notable increases in size, mass, and cost. Consequently, there is an urgent need for a lightweight, high-pressure-resistant, self-sensing buoyancy adjustment device that can accommodate the multimodal movement requirements of miniaturized deep-sea robots. Drawing inspiration from the buoyancy regulation mechanism of sperm whales, we have developed a self-sensing phase-change buoyancy regulation system tailored for miniaturized robots, designed to operate in extreme deep-sea environments. Each module weighs only 35g while providing 4g of buoyancy adjustment. Experimental results demonstrate that the system maintains stable operation under hydrostatic pressures of 30MPa. When integrated into a miniaturized deep-sea robot, this module successfully enables controlled buoyancy for multimodal movement in aquatic environments.
AB - Buoyancy systems play a vital role in the efficient movement and control of deep-sea robots. Traditional buoyancy systems for these robots rely on high-pressure hydraulic pumps and heavy pressure-resistant shells, resulting in notable increases in size, mass, and cost. Consequently, there is an urgent need for a lightweight, high-pressure-resistant, self-sensing buoyancy adjustment device that can accommodate the multimodal movement requirements of miniaturized deep-sea robots. Drawing inspiration from the buoyancy regulation mechanism of sperm whales, we have developed a self-sensing phase-change buoyancy regulation system tailored for miniaturized robots, designed to operate in extreme deep-sea environments. Each module weighs only 35g while providing 4g of buoyancy adjustment. Experimental results demonstrate that the system maintains stable operation under hydrostatic pressures of 30MPa. When integrated into a miniaturized deep-sea robot, this module successfully enables controlled buoyancy for multimodal movement in aquatic environments.
UR - https://www.scopus.com/pages/publications/105029945265
U2 - 10.1109/IROS60139.2025.11246090
DO - 10.1109/IROS60139.2025.11246090
M3 - 会议稿件
AN - SCOPUS:105029945265
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6920
EP - 6926
BT - IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings
A2 - Laugier, Christian
A2 - Renzaglia, Alessandro
A2 - Atanasov, Nikolay
A2 - Birchfield, Stan
A2 - Cielniak, Grzegorz
A2 - De Mattos, Leonardo
A2 - Fiorini, Laura
A2 - Giguere, Philippe
A2 - Hashimoto, Kenji
A2 - Ibanez-Guzman, Javier
A2 - Kamegawa, Tetsushi
A2 - Lee, Jinoh
A2 - Loianno, Giuseppe
A2 - Luck, Kevin
A2 - Maruyama, Hisataka
A2 - Martinet, Philippe
A2 - Moradi, Hadi
A2 - Nunes, Urbano
A2 - Pettre, Julien
A2 - Pretto, Alberto
A2 - Ranzani, Tommaso
A2 - Ronnau, Arne
A2 - Rossi, Silvia
A2 - Rouse, Elliott
A2 - Ruggiero, Fabio
A2 - Simonin, Olivier
A2 - Wang, Danwei
A2 - Yang, Ming
A2 - Yoshida, Eiichi
A2 - Zhao, Huijing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025
Y2 - 19 October 2025 through 25 October 2025
ER -