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

Daehyun Choi, Ian Bergerson, Hengjia Zhu +2

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 propor…