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We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic(More)
AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion, can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of(More)
— In this paper, we explore the idea of using inertial and actuator information to accurately identify the environment of an amphibious robot. In particular, in our work with a legged robot we use internal sensors to measure the dynamics and interaction forces experienced by the robot. From these measurements we use simple machine learning methods to(More)
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