robotics
A Quadruped Learned to Hold Its Attitude Underwater
Custom sealed motors and an SO(3) controller tracked roll, pitch and yaw in a water-tank experiment.
Published Updated Story ID: mp-2026-09-10-016
Summary
Custom sealed motors and an SO(3) controller tracked roll, pitch and yaw in a water-tank experiment.
The reproducible robot uses machined polymer housings, off-the-shelf O-rings and dynamic shaft seals. A simplified drag model informs closed-loop orientation control for amphibious inspection and monitoring research.
Why it matters
Custom sealed motors and an SO(3) controller tracked roll, pitch and yaw in a water-tank experiment.
Limits and context
No additional limitation was separately recorded.
Key claims
Custom sealed motors and an SO(3) controller tracked roll, pitch and yaw in a water-tank experiment.
Evidence: source-2026-09-10-018
Sources
- arXiv preprint 2609.09217arXiv · primary research
Corrections
No corrections have been recorded for this story.