This article describes a novel underwater robot, which is called underwater self-reconfigurable system
(USS). USS is studied and developed by Shanghai Jiao Tong University. It is formed by a quantity of the same
modules and works in group. Based on that, USS can change its form while working in the complicated underwater
structures according to different tasks. New multi-jaw underwater docking system, piston style regulator and
clamshell-like sampling module are designed for USS, these developments address the problems of underwater
docking, floating condition adjusting and sampling. Besides, the gaits like wriggle, creeping, swimming and fourlegged
moving have been successfully implemented in tank and lake test, which verifies the validity of the concept.
WU Chao* (吴 超), GE Tong (葛 彤), ZHUANG Guang-jiao (庄广胶), LIU Jian-min (刘建民)
. Research of Underwater Self-Reconfigurable System[J]. Journal of Shanghai Jiaotong University(Science), 2014
, 19(1)
: 35
-40
.
DOI: 10.1007/s12204-014-1474-x
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