无需推进器的水下机器人，靠浮力调节实现滑翔与抓取。
Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation
- 四组注射器式浮力引擎分布布局，通过调节浮心控制姿态。
- 单引擎可稳定倾斜64.6°，总浮力调控范围达160克。
- 支持无推进器抓取搬运，适合水下作业与模块快速更换。
Manipulider 是一种基于浮力驱动的水下机器人，实现无推进器的滑翔式运动和基于姿态的操控，并提供磁性模块接口以快速更换载荷（如夹爪或传感器）。四个分布在机体周围的注射器式浮力引擎协同调节净浮力与浮心位置，使车辆在无需持续推力的情况下维持大角度倾斜（静态平衡），并避免螺旋桨缠绕风险。本文介绍其机械与电气设计、校准流程及控制架构。实验显示，每台引擎可调浮力范围为40 mL（约160 g总浮力能力），单引擎最大静态稳定倾斜角达64.6°，双引擎为61.8°，并验证了垂直运动、姿态转换等典型动力学行为。进一步展示了姿态调节、可控升降动作及无推进器的夹爪搬运全流程演示。
原文摘要 · Abstract (English)
The Manipulider is a buoyancy-actuated underwater robot that enables thrusterless, glide-like locomotion and attitude-based manipulation, while providing a magnetic modular interface for rapid payload swapping (e.g., a gripper or sensors). Four syringe-based buoyancy engines distributed around the body jointly regulate net buoyancy and the center of buoyancy, allowing the vehicle to maintain large tilt angles through static force balance without continuous thrust and to avoid propeller entanglement risks. We present the mechanical and electrical design, calibration procedure, and control architecture. Experiments with a gripper attached (no external payload) show a controllable buoyancy-displacement range of 40 mL per engine ({\approx}160 g total buoyancy authority), maximum statically stable tilts of 64.6° (single-engine) and 61.8° (dual-engine), and representative vertical and tilt-transition dynamics. We further demonstrate tilt regulation, controlled ascent/descent primitives, and a proof-of-concept gripper-based payload-transport sequence without thrusters.
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