An Aquatic Robot Propelled by an Internal Rotor

Unmanned aquatic vehicles and robots are of tremendous importance in a variety of applications. In this paper, we present the model of an underactuated aquatic robot that is propelled by an internal rotor. The propulsion of the robot is based on the exchange of momentum between the body and water that is mediated by the creation of vorticity at the trailing edge of the robot. The robot does not have any external fins, propellers, or articulated joints allowing for very easy fabrication. Experimental data on its locomotion and maneuverability are presented.