Nezha-Mb: Design and Implementation of a Morphing Hybrid Aerial-Underwater Vehicle
Zhuxiu Xu, Yishu Shen, Yuanbo Bi, Baichuan Zeng, Zheng Zeng
Abstract
Hybrid aerial underwater vehicles (HAUVs) exhibit significant potential due to their ability to operate seamlessly in the air and water domains. However, balancing rapid maneuverability in both media and achieving stability during the cross-domain phase remains a significant challenge. Inspired by the retractable limbs of a tortoise, this paper presented a novel morphing HAUV, Nezha-MB. Nezha-MB utilizes linear actuators combined with a gear and rack system for arm transformation during the transition phase, replacing conventional servos. The transformation mechanism accounts for 11 % of the total weight. In aerial mode, Nezha-MB exhibits flight performance comparable to a quadrotor configuration. In underwater mode, NezhaMB retracts its quadrotor arms into a bullet-shaped shell, significantly reducing drag and energy consumption, while enabling passage through narrow gaps with diameters as small as 134 mm. Simulations and field tests conducted in both aerial and underwater domains demonstrate that NezhaMB combines the swift maneuverability of a streamlined underwater vehicle with the stability of a traditional multirotor vehicle, highlighting its robust and rapid cross-domain capabilities.
BibTeX
@inproceedings{icra2025_nezhambdesignand,
title = {Nezha-Mb: Design and Implementation of a Morphing Hybrid Aerial-Underwater Vehicle},
author = {Zhuxiu Xu and Yishu Shen and Yuanbo Bi and Baichuan Zeng and Zheng Zeng},
booktitle = {ICRA 2025},
year = {2025}
}