Journal of Intelligent & Robotic Systems

, Volume 91, Issue 2, pp 181–192 | Cite as

Design of a Bio-Inspired Autonomous Underwater Robot

  • Daniele CostaEmail author
  • Giacomo Palmieri
  • Matteo-Claudio Palpacelli
  • Luca Panebianco
  • David Scaradozzi


The following paper presents the design and fabrication of an ostraciiform swimming robot and its navigation control and guidance system. Compared to other biomimetic vehicles, the chosen architecture has a lower propulsive efficiency but is easier to waterproof and capable to withstand greater pressures. To generate the alternating motion of the robot bio-inspired thruster, namely a plane fin, a transmission system was designed to replace the direct drive widely adopted in underwater biomimetic vehicles. The mechanical efficiency of two alternative mechanisms capable to actuate the fin were computed according to a preliminary sizing of the robot and its targeted swimming performances. Therefore, the more suitable solution was manufactured and installed aboard. At the same time, a proper navigation, guidance and control architecture (NGC) was designed and then integrated in the robot main controller. The proposed solution allows the vehicle to perform different missions autonomously once their profiles are received from the base station. Preliminary tests results and future works are discussed in the final conclusions.


Biomimetics AUV Swim mechanics Robotic fish NGC systems 


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Copyright information

© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  • Daniele Costa
    • 1
    Email author
  • Giacomo Palmieri
    • 1
  • Matteo-Claudio Palpacelli
    • 1
  • Luca Panebianco
    • 2
  • David Scaradozzi
    • 2
    • 3
  1. 1.Department of Industrial Engineering & Mathematical Sciences (DIISM)Polytechnic University of MarcheAnconaItaly
  2. 2.Department of Information Engineering (DII)Polytechnic University of MarcheAnconaItaly
  3. 3.Laboratoire des Sciences de l’Information et des Systèmes Equipe I&M (ESIL) – CNRSMarseilleFrance

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