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AQUA: An Amphibious Autonomous Robot
January 2007 (vol. 40 no. 1)
pp. 46-53
Gregory Dudek, McGill University
Philippe Giguere, McGill University
Chris Prahacs, McGill University
Shane Saunderson, McGill University
Junaed Sattar, McGill University
Luz-Abril Torres-Mendez, McGill University
Michael Jenkin, York University
Andrew German, York University
Andrew Hogue, York University
Arlene Ripsman, York University
Jim Zacher, York University
Evangelos Milios, Dalhousie University
Hui Liu, Dalhousie University
Pifu Zhang, Dalhousie University
Marti Buehler, Boston Dynamics
AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion, can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of reference.
Index Terms:
Robotics, AQUA, Autonomous robot development, SASR tasks
Gregory Dudek, Philippe Giguere, Chris Prahacs, Shane Saunderson, Junaed Sattar, Luz-Abril Torres-Mendez, Michael Jenkin, Andrew German, Andrew Hogue, Arlene Ripsman, Jim Zacher, Evangelos Milios, Hui Liu, Pifu Zhang, Marti Buehler, Christina Georgiades, "AQUA: An Amphibious Autonomous Robot," Computer, vol. 40, no. 1, pp. 46-53, Jan. 2007, doi:10.1109/MC.2007.6
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