DocumentCode :
2597021
Title :
A visually guided swimming robot
Author :
Dudek, Gregory ; Jenkin, Michael ; Prahacs, Chris ; Hogue, Andrew ; Sattar, Junaed ; Giguere, Philippe ; German, Andrew ; Liu, Hui ; Saunderson, Shane ; Ripsman, Arlene ; Simhon, Saul ; Torres, Luz-Abril ; Milios, Evangelos ; Zhang, Pifu ; Rekletis, Ioann
Author_Institution :
Sch. of Comput. Sci., McGill Univ., Montreal, Que., Canada
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
3604
Lastpage :
3609
Abstract :
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 servo-based 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.
Keywords :
mobile robots; robot vision; servomechanisms; underwater vehicles; AQUA; amphibious operation robot; aquatic robot; autonomous robot; mobile robot; servo-based guidance; underwater navigation; visual sensors; visually guided swimming robot; walking robot; Aquatic automobiles; Communication system control; Computer science; Computer vision; Legged locomotion; Marine vehicles; Navigation; Remotely operated vehicles; Robot sensing systems; Robot vision systems; aquatic robot; autonomous robot; robotic sensing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545231
Filename :
1545231
Link To Document :
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