A Self-Sensing Phase-Change Buoyancy System for Miniaturized Deep-sea Robotics
Zonghao Zuo, Xia He, Haoxuan Wang, Qiyi Zhang, Zhuyin Shao, Li Wen
Abstract
Buoyancy systems play a vital role in the efficient movement and control of deep-sea robots. Traditional buoyancy systems for these robots rely on high-pressure hydraulic pumps and heavy pressure-resistant shells, resulting in notable increases in size, mass, and cost. Consequently, there is an urgent need for a lightweight, high-pressure-resistant, self-sensing buoyancy adjustment device that can accommodate the multimodal movement requirements of miniaturized deep-sea robots. Drawing inspiration from the buoyancy regulation mechanism of sperm whales, we have developed a self-sensing phase-change buoyancy regulation system tailored for miniaturized robots, designed to operate in extreme deep-sea environments. Each module weighs only 35g while providing 4g of buoyancy adjustment. Experimental results demonstrate that the system maintains stable operation under hydrostatic pressures of 30MPa. When integrated into a miniaturized deep-sea robot, this module successfully enables controlled buoyancy for multimodal movement in aquatic environments.
BibTeX
@inproceedings{iros2025_aselfsensingphas,
title = {A Self-Sensing Phase-Change Buoyancy System for Miniaturized Deep-sea Robotics},
author = {Zonghao Zuo and Xia He and Haoxuan Wang and Qiyi Zhang and Zhuyin Shao and Li Wen},
booktitle = {IROS 2025},
year = {2025}
}