With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators, propeller-less propulsion, model mediated tele-operation with video and haptic feedback, sonar-based underwater mapping, localization, and navigation, and high bandwidth visible light communications. Following the finalization of the detailed design, a prototype is manufactured and is currently undergoing pool tests.
@article{arxiv.2503.13913,
title = {Project URSULA: Design of a Robotic Squid for Underwater Manipulation},
author = {Berke Gur},
journal= {arXiv preprint arXiv:2503.13913},
year = {2025}
}
Comments
Presented during the IEEE OES AUV 2024 Symposium held in Boston, MA, USA between the dates 18-20 September, 2024. 6 pages, 7 pages, 17 references