This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.

翻译：本文介绍了AquaMILR+，一种专为在复杂水生环境中实现敏捷导航而设计的无缆索无肢机器人。该机器人采用了一种双边驱动机制，该机制模拟了许多鳗鲡类游泳生物体的肌肉骨骼驱动方式，能够从头到尾传播一个移动波，从而实现开放式流体波动游泳。这种驱动机制运用了机械智能，增强了机器人与障碍物交互时的机动性。AquaMILR+还包含一个受鳗鱼和海蛇的鱼鳔及肺结构启发的紧凑型深度控制系统。该机制由注射器和伸缩丝杠驱动，实现了深度和俯仰控制——这是大多数鳗鲡类游泳机器人难以具备的能力。额外的结构，如鳍和尾部，进一步提高了稳定性和推进效率。我们在开放水域以及室内二维和三维异质水生环境中的测试，突显了AquaMILR+的能力，并表明它是一个适用于复杂水下任务（如搜索救援和深海勘探）的有前景的系统。