USS - An Underwater Self-reconfigurable System

USS is formed by a quantity of, but only two types of modules, which are called motion module and carrying module. Thought each module only has limited capability of environment detection, decision-making, movement and so on, the system as whole can achieve complicated functions by multi-modules' collaboration. USS, moreover, not only can change its form and adjust its buoyancy according to different environment and missions, but also can achieve different gaits by pace coordination. A claw-pattern automatic connection device is designed. Motion and gait control, such as eel-like, creeping, rolling, octopus and breast stroke, have been researched and realized both by simulation and tank experiment.