Aqua2

A rectangular gray and black robot with gray fins underwater.
Gone swimming. Photo: Adept MobileRobots

Aqua2 is an amphibious six-legged robot. It's designed for applications involving dive assistance, environmental monitoring, and locomotion research.

Creators

McGill University, York University, and Independent Robotics

Year
2010
Country
Canada 🇨🇦
Categories
Features
Aqua2 in action. Video: Adept

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Appearance

Neutral

Did you know?

Aqua's flippers move independently, enabling it to move forward, backward, up, down, and sideways; it can also perform somersaults and rolls.

A low to the ground six legged robot walks on beachy sand.
Aqua2 can use paddles or feet, depending on the terrain. Photo: Adept MobileRobots

History

The initial Aqua robots were designed by Gregory Dudek at McGill University, in Montreal, in collaboration with teams led by Michael Jenkin at York University, in Toronto, and Evangelos Milios at Dalhousie University, in Halifax, Canada. Their first Aqua design, based on RHex, a six-legged walking robot developed by U.S. and Canadian researchers in a program sponsored by DARPA, was unveiled in 2004. Aqua has been tested in real underwater environments in Barbados and Nova Scotia, where scientists used the robot to assess the health of coral reefs and other marine life. A commercial version of Aqua is currently offered by Independent Robotics.

A yellow robot with circularly curved "legs" walks on dry grass.
The six legs move independently, allowing for different gaits. Photo: Adept MobileRobots
A rectangular gray and black robot with gray fins shines a red light underwater. A scuba diver swims behind it.
Aqua2 can operate completely untethered. Photo: Adept MobileRobots

Specs

Overview

Rugged sealed chassis, multiple walking gaits and swimming styles, water resistant up to 30 meters, 3D mapping.

Status

Ongoing

Year

2010

Website
Width
44 cm
Height
13 cm
Length
64 cm
Weight
16.5 kg
Speed
3.6 km/h (swimming)
Sensors

Three cameras, inertial measurement unit, depth sensor.

Actuators

Six independently controlled appendages (fins or legs)

Degrees of Freedom (DoF)
6
Materials

High grade aluminum chassis with six vinyl control fins or fiberglass legs.

Compute

On-board control stack with 500 MHz processor. Vision stack with 1.4 GHz processor.

Software

ROS compatible software modules and user interface

Power

Batteries, 5 hours of operation

Cost
$60,000 to $110,000 (depending on configuration)