PoseiDRONE: Design of a soft-bodied ROV with crawling, swimming and manipulation ability

The design concept and development of a multi-purpose, underwater robot is presented. The final robot consists of a continuum composed for 80% of its volume of rubber-like materials and it combines locomotion (i.e. crawling and swimming) and manipulation capabilities. A first prototype of the robot is illustrated based on the integration of existing prototypes.