Centre for biorobotics
TalTech priority area
Research classification (Frascati)
Head of the research group
Research group member
Doctoral students
Keyword
underwater robotics and control
locomotion in multiphase environments
mapping and navigation
Overview
The Centre for Biorobotics specializes in researchand development of underwater robotics andsensing. On the robotics side we are focusing ondevelopment of locomotion and control in underwater and multiphase environments, whereconventional land and underwater platforms areunderperforming. In connection with robotics,we are focusing on using bioinspired sensingmethods in combination with conventional toolsto improve situational awareness and navigationperformance of our robots. Apart from robotics,we are also applying the bioinspired sensingmethods in water flow sensing in natural environments (rivers, coast etc.).
Related projects
Period of activity of the research group
2023
2022
2021
2020
2019
2018
2017
Related department
Teadusgrupiga seotud publikatsioonid
- Remmas, W., Chemori, A., Kruusmaa M. Diver tracking in open waters : a low-cost approach based on visual and acoustic sensor fusion // Journal of field robotics (2021) vol. 38, 3, p. 494–508.
https://doi.org/10.1002/rob.21999 - Rätsep, M., Parnell, K. E., Soomere, T., Kruusmaa, M., Ristolainen, A., Tuhtan, J. A. Surface vessel localization from wake measurements using an array of pressure sensors in the littoral zone // Ocean engineering (2021) vol. 233, art. 109156.
https://doi.org/10.1016/j.oceaneng.2021.109156 - Vihman, L., Kruusmaa, M., Raik, J. Systematic review of fault tolerant techniques in underwater sensor networks // Sensors (2021) vol. 21, 9, art. 3264.
https://doi.org/10.3390/s21093264 - Meurer, C., Fuentes-Perez, J.F., Schwarzwalder, K., Kruusmaa, M. et al. 2D estimation of velocity relative to water and tidal currents based on differential pressure for autonomous underwater vehicles // IEEE robotics and automation letters (2020) vol. 5, 2, p. 3444−3451.
https://doi.org/10.1109/LRA.2020.2976318 - Simha, A., Gkliva, R., Kotta, Ü., Kruusmaa, M. A flapped paddle-fin for improving underwater propulsive efficiency of oscillatory actuation // IEEE robotics and automation letters (2020) vol. 5, 2, p. 3176-3181.
https://doi.org/10.1109/LRA.2020.2975747 - Monea, M.C., Löhr, D.K., Meyer, C., Drenkova-Tuhtan, A. et al. Comparing the leaching behavior of phosphorus, aluminum and iron from post-precipitated tertiary sludge and anaerobically digested sewage sludge aiming at phosphorus recovery // Journal of cleaner production (2020) vol. 247, art. 119129, 8 p. : ill.
https://doi.org/10.1016/j.jclepro.2019.119129