VSAP Lab

Artificial Feather Stars

Multi-functional, Multi-agent Soft Underwater Robotics

Soft underwater robot inspired by feather stars for propulsion and manipulation in unstructured environments.

This project proposes a novel underwater soft robot inspired by feather stars, composed of multiple branching soft modules that combine propulsion and manipulation skills for a highly redundant system adaptable to different tasks, including safe manipulation of human-made underwater structures such as oil and gas pipelines.

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Artificial Feather Stars

Related Publications

F. Renda, A. Mathew and D. F. Talegon, "Dynamics and Control of Soft Robots With Implicit Strain Parametrization," IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2782-2789, March 2024.

DOI

P. Pustina, C. D. Santina, F. Boyer, A. De Luca and F. Renda, "Input Decoupling of Lagrangian Systems via Coordinate Transformation," IEEE Transactions on Robotics, 2024.

DOI

Z. Chen et al., "Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review," IEEE Transactions on Automation Science and Engineering, 2024.

DOI

Waseem Akram, Taimur Hassan, Hamed Toubar, Muhayyuddin Ahmed, Nikola Miskovic, Lakmal Seneviratne, and Irfan Hussain, "Aquaculture defects recognition via multi-scale semantic segmentation," Expert Systems with Applications 237, 2024.

Bakht, A.B. et al., "MuLA-GAN: Multi-level attention GAN for enhanced underwater visibility," Ecological Informatics, 2024.

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