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Design and Attitude Control of an Underwater Quadruped Robot

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a reproducible underwater quadruped robot. The robot is built around custom waterproof motor housings machined from polyoxymethylene plastic, which use off-the-shelf O-rings and dynamic shaft seals. A simplified model is derived to describe the dynamics of this underwater legged sys

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