Ongoing Research · Master's Thesis · Sung Robotics Lab
Buoyancy Control Device for Underwater Soft Swimmer
An origami-inspired, waterproof inflatable pouch system with servo-driven actuation for fine-resolution buoyancy control of an underwater soft swimmer.
Period
Aug 2025 – Present
Tags
Soft Robotics · Mechatronics · Rapid Prototyping · Control Systems
Highlights
- 01Origami-inspired waterproof inflatable pouch with servo-driven actuation
- 02End-to-end mechatronic architecture in a sealed, space-constrained assembly
- 03Self-taught CAD proficiency to resolve sealing, pressure, and structural challenges
- 04Optimized packaging and load paths for weight and volume efficiency
Write-up
This research explores dynamic buoyancy control for depth, pitch and roll control for the SALP robot, a soft underwater swimmer. The device uses an origami-inspired inflatable pouch driven by a compact servo to vary displaced volume in real time — enabling smooth vertical maneuvering without traditional thruster hardware.
I led the full architecture: mechanical packaging, embedded electronics, actuation, and the compliant soft structures, all integrated within a sealed underwater housing. Sealing integrity, pressure differential management, and structural reliability under submersion were the dominant design constraints. My work now focuses on designing precise control for this device.