Summary: 
This project's goal is to develop a robot mobility architecture to explore remote amphibious environments.

This is a collaboration between UC San Diego's Advanced Robotics and Controls lab with direct collaboration with the Caltech-NASA Jet Propulsion Laboratory's Robotic Vehicles and Manipulators Group to build a serpentine robot for planetary exploration.

​This system uses a novel Archimedes Screw and U-joint architecture with robust internals to allow us to begin exploring soon.

Presented at the virtual ICRA 2020 (https://arxiv.org/abs/1909.11641​)