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arXiv · 2002.01918

Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot

Gedaliah Knizhnik·Mark Yim
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Abstract

We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single motor into an adjustable paddling motion for propulsion and steering. We develop design criteria for modularity and swarming and present a prototype implementing these criteria. We identify significant mechanical sensitivities with the presented design, theorize about the cause of the sensitivities, and present an improved design for future work.

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Gedaliah Knizhnik, Mark Yim. 2020-02-05. Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot. https://doi.org/10.1109/ur49135.2020.9144872

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