The inspiration for snake robots comes from biological snakes. Snakes display superior
mobility capabilities and can move over virtually any type of terrain, including narrow and …

Multibody marine robots, representing a promising research and development area, have
gained acute attention and response from civil and military fields. A multibody marine robot …

This paper proposes and experimentally validates a straight line path following controller for
underwater snake robots in the presence of constant irrotational currents of unknown …

Increasing efficiency by improving locomotion methods is a key issue for underwater robots.
Moreover, a number of different control design challenges must be solved to realize …

Fish locomotion which adopts body and/or caudal fin swimming mode consists of different
motions, such as Cruising-straight, Cruising-turn, and various fast turns, among others …

This work investigates direction control and path following of a 3-D snake-like robot. In order
to control such robots accurately, this work researches the relationships between its phase …

The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater
swimming manipulator with intervention capabilities. Station-keeping and trajectory tracking …

Abstract Purpose of Review Research in underwater manipulation has mostly focused on
solving individual parts of the manipulation challenge; however, we believe a systemic …

For decades, underwater vehicles have been performing underwater operations, which are
critical to the development and upgrading of underwater robots. With the advancement of …

Because of hydrodynamic model error of the present dynamic model, there is a challenge in
controller design for the underwater snake-like robot. To tackle this challenge, this paper …