This project involved the design and construction of an amphibious robotic crawler capable of performing underwater retrieval tasks. Its primary challenge was to retrieve and discriminate between three visually identical objects, differentiated only by their material properties (ferrous vs. non-ferrous). The crawler combined waterproofed electronics, inductive sensing, and a custom retrieval apparatus to achieve reliable underwater operation while maintaining precise mobility control.

Goals

Design and prototype an amphibious crawler capable of operating in both terrestrial and underwater environments.
Enable discrimination between visually identical objects using inductive sensing.
Develop a retrieval mechanism that can reliably collect and return target objects.
Ensure waterproofing of all electronics and robustness of control systems in submerged conditions.

Features

Amphibious crawler platform with waterproofed motor drivers.
Arduino-based control system for motor speed and direction.
Inductive sensors integrated for ferrous/non-ferrous object discrimination.
Custom retrieval apparatus for secure object collection.

No items found.

Specific Contributions

Designed and implemented the motor control system, enabling precise bidirectional movement via Arduino and joysticks.
Manually waterproofed motor drivers and electrical connections to ensure safe underwater operation.
Collaborated with teammates to integrate inductive sensors for object discrimination and retrieval apparatus for collection.
Assisted in testing and validating the crawler’s performance in amphibious and underwater environments.