Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle

Friedrich M Rockenbauer (ETH Zürich),
Simon Jeger (ETH Zürich),
Liberto Beltran (ETH Zürich),
Maximilian Berger (ETH Zürich),
Marvin Harms (ETH Zürich),
Noah Kaufmann (ETH Zürich),
Marc Rauch (ETH Zürich),
Moritz Reinders (ETH Zürich),
Nicholas Lawrance (ETH Zürich),
Thomas Stastny (ETH Zürich),
Roland Siegwart (ETH Zürich)
Paper Website
Paper Website
Paper #048
Interactive Poster Session III Interactive Poster Session VI

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The locomotion for many modern robotic systems is optimized for a single target domain - aerial, surface or underwater. In this work, we address the challenge of developing a robotic system capable of controlled motion in air and underwater. Further, we explore the particular challenge of dynamic transitions between air and water. We propose Dipper, an aerial-aquatic hybrid vehicle. Dipper is a light-weight fixed-wing UAV with actively swept wings. The bio-inspired system is not only capable of maneuvering efficiently during flight and underwater, but can also perform dynamic aerial-aquatic transitions. We describe the design, construction and testing of the Dipper prototype, and demonstrate repeatability and robustness especially during the transition phases.

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