IGUANABOT · IGUANABOT: Bioinspired Multimodal Underwater Robot for Marine Conservation

Robotic systems in marine environments could enable high-resolution measurements of ecological processes at extraordinary scales, pushing the boundaries of current methods. The inherent limitations of conventional propeller-based ROV push for robotic systems with multiple modes of locomotion; swimming and benthic locomotion. In order to develop multimodal underwater robotics technology, marine animals with both swimming and benthic locomotion capabilities serve as benchmarks. In this project, a bioinspired underwater vehicle called IGUANABOT, inspired by marine iguanas, will be developed with swimming and benthic legged locomotion capabilities. The objectives of the project are to; design and build the iguana-inspired robot, evaluate the robot's performance in the laboratory and the field, and do a case study by creating a 3D map of the seafloor that will aid in marine conservation. These three objectives translate to six work packages: multimodal locomotion system, vision system, integration and control, verification and validation, and a case study. IGUANABOT will be the first underwater robot with unique technological features; bioinspired swimming and legged locomotion in the natural marine environment, a bendable back that adapts to irregular terrain and enhances locomotion performance, and clawed feet that adhere to steep, slippery substrates. The robot’s development and performance optimisation will be performed at Swedish Maritime Robotics Centre, KTH Royal Institute of Technology, Sweden. The case study will take place at the sea close to Gullmarsfjord, a natural reserve in Sweden, stationing at Kristineberg Centre for Marine Research and Innovation, University of Gothenburg.