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Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide both propulsion and differential-thrust pitch control under a proportional-integral-derivative (PID) loop, and a tail rudder adds yaw control. The hull, evaluated by flow simulation, reduces the drag five-fold relative to an equivalent cuboid, and the propellers are optimized using B-series modeling validated by dynamometer measurements. The current robot swims at 13.9 body lengths per second and turns at 209 deg per second, corresponding to the upper limits reported for underwater r

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