Mathew Anup Teejo, Feliu-Talegon Daniel, Abdullahi Adamu Yusuf, Ben Hmida Ikhlas, Armanini Costanza, Stefanini Cesare, Seneviratne Lakmal, Renda Federico
Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, UAE.
Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, UAE.
Soft Robot. 2025 Aug;12(4):410-422. doi: 10.1089/soro.2024.0036. Epub 2025 May 12.
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine life, call for the adoption of soft robotic approaches in marine exploration. To address this, we present a novel prototype, ZodiAq, a soft underwater drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped with 12 flagella-like arms, ensures design redundancy and compliance, ideal for navigating complex underwater terrains. The prototype features a central unit based on a Raspberry Pi, connected to a sensory system for inertial, depth, and vision detection, and an acoustic modem for communication. Combined with the implemented control law, it renders ZodiAq an intelligent system. This article details the design and fabrication process of ZodiAq, highlighting design choices and prototype capabilities. Based on the strain-based modeling of Cosserat rods, we have developed a digital twin of the prototype within a simulation toolbox to simplify analysis and control. To optimize its operation in dynamic aquatic conditions, a simplified model-based controller has been developed and implemented, facilitating intelligent and adaptive movement in the hydrodynamic environment. Extensive experimental demonstrations highlight the drone's potential, showcasing its design redundancy, embodied intelligence, crawling gait, and practical applications in diverse underwater settings. This research contributes significantly to the field of underwater soft robotics, offering a promising new avenue for safe, efficient, and environmentally conscious underwater exploration.
水下机器人探索存在诸多内在挑战，如流体动力学效应、动态耦合的复杂性以及与海洋生物进行灵敏交互的必要性，这就需要在海洋探索中采用软机器人方法。为解决这一问题，我们展示了一种新型原型——ZodiAq，这是一种受原核细菌鞭毛启发的软质水下无人机。ZodiAq独特的十二面体结构配备了12条类似鞭毛的臂，确保了设计冗余和顺应性，非常适合在复杂水下地形中导航。该原型的核心单元基于树莓派，连接到用于惯性、深度和视觉检测的传感系统以及用于通信的声学调制解调器。结合所实施的控制律，它使ZodiAq成为一个智能系统。本文详细介绍了ZodiAq的设计和制造过程，突出了设计选择和原型能力。基于柯塞尔杆的应变建模，我们在一个仿真工具箱中开发了该原型的数字孪生模型，以简化分析和控制。为了优化其在动态水生条件下的运行，已开发并实施了一个基于简化模型的控制器，便于在流体动力学环境中进行智能和自适应运动。大量的实验演示突出了该无人机的潜力，展示了其设计冗余、具身智能、爬行步态以及在各种水下环境中的实际应用。这项研究对水下软机器人领域做出了重大贡献，为安全、高效且注重环保的水下探索提供了一条充满希望的新途径。
