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Filose is a fish robot prototype that moves using a soft tail actuated only by one motor. FILOSE robot has feedback from flow sensors and can control itself with respect to the flow (e.g. swim upstream). Key features: soft actuator, flow relative control, bio-inspired locomotion.


U-CAT is a highly maneuverable biomimetic holonomic underwater robot. Its method of locomotion with 4 flexible fins was inspired by underwater turtles' swimming. Its small size makes it suitable for navigating in confined spaces, such as shipwrecks, underwater mining structures etc. Key features: bio-inspired, soft actuators, holonomic.



μ-CAT is a low cost, small sized, Arduino-based, bio-inspired underwater robot. It follows the same locomotion paradigm as U-CAT, employing 4 individually actuated soft fins for navigation. 3 of them in the lab currently and are used as demonstration/exhibition robots, as well as for education as learning platforms in robotics classes and for various student projects. Key features: io-inspired, soft actuators, learning platform.


The hydromast is a bioinspired flow sensor inspired by the biological lateral lines, which are the mechanoreceptive flow sensing organs of fish. It is an upscaled version of the neuromast and consists of a vibrating stem elastically fixed to a pressure sensitive body. Key features: multisensory flow measurements, bio-inspired, distributed sensing.

HydroMast biorobotics
DPSS V2 robot


DPSS V2 is a small alternative of the differential pressure sensor speedometer designed to support higher depths. Its size (D = 5 cm; L = 12 cm) and design make possible to adapt it to most of the AUV platforms. Key features: velocimetry of AUVs, 9-axis absolute orientation and depth, high depth.


Full-scale differential pressure sensor speedometer designed for torpedo-shaped AUVs (specifically for SPARUS II). A simple equation based on the conservation of energy accurately estimates the velocity, with estimated mean absolute errors of 0.0087 m/s. Key features: velocimetry of AUVs, range up to 2m/s and 2 m/s².

DPSS robot


iRon is the first lateral line probe based in differential pressure sensors for field use. It consists of a 0.22 m length NACA025 body, designed as a compact, streamlined body to measure pressure gradients over the body simultaneously using six differential pressure sensors (±2000 Pa) with a resolution of 0.0695 Pa. At the same time, the water depth is measured by the probe using an absolute pressure sensor (0 to 10000 Pa). I can measure in a configurable sampling frequency up to 400 Hz. Key features: artificial lateral line, sampling up to 400Hz, six differential pressure sensors.

smart geo particle

Smart Geo Particle

The “Smart Geo Particle” (SGP) is a small river drifter developed by the Centre for Biorobotics at Tallinn University of Technology. The SGP is an IoT device that can provide real time estimates of position, travel speed, accelerations, orientations or magnetic fields using a mobile communication at 1 Hz as well as on board recording at 5-10 Hz. These properties make the drifter an ideal tool for the instantaneous characterization of small to large river streams. Key features: flow classification, river studies, flow velocity, acceleration, mapping.