RoboNotonecta: A Backswimmer-inspired Swimming Miniature Robot with Efficient Low-power Propulsion and Agile Aquatic Maneuverability
Chaofeng Wu, Jiaxin Zhao, Yichen Zhang, Qingcheng Guo, Feng Cui, Xiaosheng Wu, Wu Liu
Abstract
In this letter, we present the design, manufacturing, and performance test of a centimeter-scale two-legged swimming robot, RoboNotonecta, inspired by the efficient and agile locomotion of an aquatic beetle backswimmer (Notonectid). The robot utilizes a crank-slider and slider-rocker paddling mechanism for propulsion and steering. Its swimming legs are made from Smart Composite Microstructures (SCM) and feature an asymmetric anti-bending stiffness design. This design allows the legs to bend during the recovery stroke and expand during the power stroke, enabling efficient thrust generation. RoboNotonecta has a total mass of 10.3 g and a body length (BL) of 6.4 cm. It can swim at speeds up to 16.2 cm/s (2.5 BL/s), with a minimum turning radius of 4.7 cm (0.73 BL). Equipped with an onboard battery, it can move freely on the water surface while avoiding obstacles. These capabilities demonstrate its potential for environmental monitoring and exploration applications.
BibTeX
@inproceedings{iros2025_robonotonectaaba,
title = {RoboNotonecta: A Backswimmer-inspired Swimming Miniature Robot with Efficient Low-power Propulsion and Agile Aquatic Maneuverability},
author = {Chaofeng Wu and Jiaxin Zhao and Yichen Zhang and Qingcheng Guo and Feng Cui and Xiaosheng Wu and Wu Liu},
booktitle = {IROS 2025},
year = {2025}
}