Advancements and Challenges in Underwater Soft Robotics: Materials, Control and Integration

Abstract

This article focuses on the progress of underwater robots and the importance of software architectures in building robust and autonomous systems. The researchers underscore the challenges linked to implementation and stress the need for comprehensive validation of both reliability and efficacy. Their argument is on the extensive implementation of a globally applicable architectural framework that complies with established standards and guarantees interoperability within the field of robotics. The research also covers advancements in underwater soft robotics, which include the development of models, materials, sensors, control systems, power storage, and actuation techniques. This article explores the challenges and potential applications of underwater soft robotics, highlighting the need of collaboration across many fields and advancements in mechanical design and control methods. In the last section of the paper, the control approach and algorithms used to underwater exploration robots are reviewed. Particular attention is given to the application of Proportional Integral Derivative (PID) control and the incorporation of Backpropagation Neural Network (BPNN) for PID parameter determination.