Abstract: A robotic device for navigating in at least a liquid medium, includes a legged propulsion system having a series of legs external of a body of the robotic device, each of the legs being independently driven and mounted to the body for pivotal movement about a respective transverse axis. The legs oscillating relative to the body about the respective transverse axis such that interaction between the legs and the liquid medium produces propulsive forces that displace the robotic device within the liquid medium. A control system is operatively connected to the legged propulsion system for autonomous control and operation of the robotic device based on information received from at least one sensor providing data about an environment of the device.

Abstract: A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.

Abstract: A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.