Aqua robot V1.5 tests -- new amphibious legs

The next version of the Aqua underwater will be getting a workout in the McGill pool sometime soon with new legs. We have some problems with the calibration of the intertial measurement unit, but otherwise things are proceeding apace. The amphibious legs, which allow both walking and swimming to be accomplished efficiently are looking really good and this should be an exciting test.


(The legs shown here are the older swimming flippers and not the new still-confidential version 3 legs. Movie here.

These legs combine compliance and swimming factors to greatly exceed the performance of our prior legs. They have been on the drawing board and in prototype form for some time, and it will be important to really assess their performance accurately.