AUQA 2.0

AQUA is an aquatic robot capable of both legged and swimming motion. AQUA is based on RHex, a terrestrial six-legged robot developed in part by the Ambulatory Robotics Lab at McGill in collaboration with the University of Michigan, the University of California at Berkeley and Carnegie Mellon University. AQUA’s required capabilities are surface and underwater swimming, diving to a depth of 10m, station keeping and crawling at the bottom of the sea. For propulsion, the vehicle does not use thrusters, as do most underwater vehicles. Instead it uses six paddles, which also act as control surfaces during swimming, and as legs when walking.

Paper: https://www.cim.mcgill.ca/~mrl/pubs/latorres/iros04_aqua.pdf