An Underwater Snake Robot that Does Not Consider Actuators’ Waterproof: Design and Primary Experiments

This paper presents the design of an underwater snake-like robot featuring four fully submersible joints and verifying its primary underwater properties. The actuators that drive these joints are designed to focus on minimal friction, have a lubricant-free gear reducer, and have no waterproof sealing, making them suitable for direct exposure to underwater experiments. The paper thoroughly discusses the efficiency and command/actual torque measurement of these actuators, the design of the snake robot, and the primary underwater verification. The ultimate objective of this snake robot is to enable it to engage in interactive tasks that require direct mechanical interaction with the underwater surroundings. The execution of various tasks with this snake robot remains part of future work. The robot demonstrates serpentine and eel-like locomotion in the underwater environment, showcasing its adaptability and potential for various applications in underwater environment.