Motion Control of Miniature Aquatic Robot Utilizing Bird’s Eye View Camera and Marker

Abstract

Miniature aquatic robots are required for survey in a narrow space. In this study, we have developed a robot with multiple elastic plates which are selectively resonated by a single vibration motor. In this paper, a bird’s eye view camera is used to detect the position of the robot with a marker and the motion control is applied to let the robot reach the designated position.