2025
AquaMILR+: Design of an Untethered Limbless Robot for Complex Aquatic Terrain Navigation
Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe, Donoven Dortilus, Peter Gunnarson, John O. Dabiri +1
ICRA 2025
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail