Robotics: Science and Systems XVII

Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle

Friedrich M Rockenbauer*, Simon Jeger*, Liberto Beltran, Maximilian Berger, Marvin Harms, Noah Kaufmann, Marc Rauch, Moritz Reinders, Nicholas Lawrance, Thomas Stastny, Roland Siegwart
* These authors contributed equally


The locomotion for many modern robotic systems is optimized for a single target domain - aerial; surface or underwater. In this work; we address the challenge of developing a robotic system capable of controlled motion in air and underwater. Further; we explore the particular challenge of dynamic transitions between air and water. We propose Dipper; an aerial-aquatic hybrid vehicle. Dipper is a light-weight fixed-wing UAV with actively swept wings. The bio-inspired system is not only capable of maneuvering efficiently during flight and underwater; but can also perform dynamic aerial-aquatic transitions. We describe the design; construction and testing of the Dipper prototype; and demonstrate repeatability and robustness especially during the transition phases.



    AUTHOR    = {Friedrich M Rockenbauer AND Simon Jeger AND Liberto Beltran AND Maximilian Berger AND Marvin Harms AND Noah Kaufmann AND Marc Rauch AND Moritz Reinders AND Nicholas Lawrance AND Thomas Stastny AND Roland Siegwart}, 
    TITLE     = {{Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2021}, 
    ADDRESS   = {Virtual}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2021.XVII.048}