Abstract: An underwater snake robot 200 for performing subsea operations, the robot 200 comprising: a series of links 202, 204 that are connected to one another by one or more passive joint modules 201 for allowing a flexural motion of the robot 200; and multiple thrust devices 203 for applying thrust to the robot 200 for propulsion, for generating the flexural motion of the robot and for controlling the orientation and location of the links 202, 204.

Abstract: An underwater snake robot 400 for performing subsea operations, the robot 400 comprising: a series of links 401, 402 that are connected to one another by one or more joint modules 404 for allowing a flexural motion of the robot; and one or more thrust devices for applying thrust to the robot 400 for propulsion and/or guidance; wherein the flexural motion and/or thrust device(s) enable movement of the robot 400 and control of the orientation and/or location of the links 401, 402, and wherein the robot 400 has a length to diameter ratio of at least 25:1.

Abstract: An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules for generating a flexural motion of the robot; multiple thrust devices located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool, or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices enable movement of the robot and control of the orientation and/or location of the tool.

Abstract: An underwater manipulator arm robot comprises: a plurality of links that are connected to one another by joint modules for generating a flexural motion of the robot; multiple thrust devices located at different points along the length of the robot for applying thrust to the robot for propulsion and/or guidance; and at least one tool, or at least one connection point for a tool, attached to the robot; wherein the flexural motion and/or thrust devices enable movement of the robot and control of the orientation and/or location of the tool.