Researchers from the Department of Electrical and Electronic Engineering at Imperial College London have unveiled a groundbreaking development in underwater robotics with the introduction of ZodiAq, a soft underwater drone inspired by the flagella of prokaryotic bacteria. This innovative prototype addresses the unique challenges of underwater exploration, including hydrodynamic effects, dynamic coupling complexity, and the need for gentle interaction with marine life.
ZodiAq’s design is centered around a dodecahedral structure, featuring 12 flagella-like arms that provide both redundancy and compliance, making it highly adaptable to complex underwater terrains. The drone’s central unit is powered by a Raspberry Pi, which connects to a comprehensive sensory system. This system includes inertial, depth, and vision detection capabilities, as well as an acoustic modem for communication. The integration of these components, along with a sophisticated control law, transforms ZodiAq into an intelligent and responsive underwater explorer.
The development process of ZodiAq involved meticulous design and fabrication, with a focus on optimizing its performance in dynamic aquatic environments. The researchers utilized strain-based modeling of Cosserat rods to create a digital twin of the prototype within a simulation toolbox. This digital twin facilitates easier analysis and control, enhancing the drone’s operational efficiency. Additionally, a simplified model-based controller was developed and implemented to enable intelligent and adaptive movement in challenging hydrodynamic conditions.
Experimental demonstrations have showcased ZodiAq’s capabilities, highlighting its design redundancy, embodied intelligence, and crawling gait. These features make it highly suitable for a wide range of underwater applications, from exploring delicate marine ecosystems to navigating intricate underwater structures. The drone’s ability to operate safely and efficiently in diverse settings underscores its potential to revolutionize underwater exploration.
This research represents a significant advancement in the field of underwater soft robotics. By offering a novel approach to underwater exploration, ZodiAq promises to enhance our understanding of marine environments while minimizing the impact on their delicate ecosystems. The development of such innovative technologies is crucial for the future of marine research, conservation, and resource management, paving the way for safer, more efficient, and environmentally conscious underwater exploration. Read the original research paper here.