Untethered Underwater Soft Robot with Thrust Vectoring

Robin Hall,Cagdas D. Onal,Robin Hall,Cagdas D. Onal

This paper introduces DRAGON: Deformable Robot for Agile Guided Observation and Navigation, a free-swimming deformable impeller-powered vectored underwater vehicle (VUV). A 3D-printed wave spring structure directs the water drawn through the center of the robot by an impeller, enabling it to move smoothly in different directions. The robot is designed to have a narrow cylindrical profile to lower ...