Development of a humanoid robot for underwater use

In this research, we have developed a swimming robot with a fluttering kick with two legs, which can swim freely both on the surface of water and under water. We have established a control method for all the different types of motion of this robot, e.g., swimming in a straight line, turning, diving, or rising up in the water. Furthermore, by optimizing the three-dimensional action of this underwater robot, we can expect an improvement in its performance for complex work.