Design, Estimation of Model Parameters, and Dynamical Study of a Hybrid Aerial-underwater Robot: Acutus

Design of multi-domain vehicles has been a focus in robotics research in the recent past. The objective behind developing such hybrid vehicle/robot is to combine the capabilities of systems operating in various domains. They can be of great use in numerous applications, as it maximizes the reach in multiple operation environments, especially in various challenging sectors to reduce risk to the human lives. This paper presents the design of multi-domain vehicle: a hybrid aerial-underwater robot, Acutus. Dynamic modelling of Acutus is one of the vital steps in the design process. The parameters involved in the model such as the hydrodynamic drag and added mass are critical in determining the accuracy of the model. Mathematical modelling and estimation of system parameters for Acutus are presented. The dynamics of the system, both in aerial and underwater domains, are initially studied individually for different possible sets of inputs. Later, simulation studies are carried out for transition between aerial and underwater domains. Preliminary mechatronic design and the experimental setup details are also presented.