TY - GEN
T1 - Design and Control of a 6-DOF Fully Actuated Aerial-Aquatic Robot with Thrust Vectoring
AU - Tian, Bocheng
AU - Liu, Yuchen
AU - Ren, Xiangyu
AU - Chen, Donghe
AU - Zuo, Zonghao
AU - Wen, Li
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Single-medium, multi-degree-of-freedom robots often face limitations in aerial-aquatic tasks due to structural and weight constraints, which compromise their mobility in both air and water. To address this, we introduce a 6-degree-of-freedom fully actuated aerial-aquatic robot that employs thrust vectoring for enhanced performance. This innovative design incorporates four servos and four motors to facilitate coordinated operation. In air mode, the robot achieves decoupled control of attitude and position through servo angle feedforward compensation combined with dual-loop control. In underwater mode, it ensures high maneuverability by utilizing a dynamic model similar to a "weightless"state, employing single-loop control. Experimental results demonstrate that the robot can perform fully actuated movements in both air and water, successfully navigate the air-water boundary, and deploy sensors on inclined surfaces. These capabilities highlight the robot's significant future application prospects.
AB - Single-medium, multi-degree-of-freedom robots often face limitations in aerial-aquatic tasks due to structural and weight constraints, which compromise their mobility in both air and water. To address this, we introduce a 6-degree-of-freedom fully actuated aerial-aquatic robot that employs thrust vectoring for enhanced performance. This innovative design incorporates four servos and four motors to facilitate coordinated operation. In air mode, the robot achieves decoupled control of attitude and position through servo angle feedforward compensation combined with dual-loop control. In underwater mode, it ensures high maneuverability by utilizing a dynamic model similar to a "weightless"state, employing single-loop control. Experimental results demonstrate that the robot can perform fully actuated movements in both air and water, successfully navigate the air-water boundary, and deploy sensors on inclined surfaces. These capabilities highlight the robot's significant future application prospects.
UR - https://www.scopus.com/pages/publications/105029916148
U2 - 10.1109/IROS60139.2025.11246426
DO - 10.1109/IROS60139.2025.11246426
M3 - 会议稿件
AN - SCOPUS:105029916148
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 9099
EP - 9106
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 -