Researches on autonomous underwater robots have become a hot spot all around the world. Many different autonomous underwater robots have been developed. Our research is about the spherical underwater robots equipped with water-jet-based propulsion system. The propulsion system makes it more flexible when robots carry out motion in water. And we also develop multi-robot system to realize the cooperative and collaborative tasks in the water.

    ・Spherical shape, water-jet propulsion system (The original concept of the research)
    ・Multi vectored water-jet-based propulsion system.
    ・Flexible motions in surge, heave and yaw.
    ・Modularity of components, easy to be assembled.
    ・Intelligent altitude control; intelligent cooperation.

       We designed a master- slave structure for the control hardware. The master side response for strategies decision, and the slave side response for driving the actuators and sensors. This two-level hardware structure make it more efficient in motion control and sensors feedback, and also improve the controllability in real-time.

    ・Our goal is to make our robots can collaboratively carry our tasks.
    ・The robot can play a role of mother machine to carry those micro underwater robots.