SBIR Phase II: Robotic Platforms for Managing Submerged Structures

The broader/commercial impact of this Small Business Innovation Research (SBIR) Phase II project is improved inspection, monitoring, and maintenance of critical infrastructure, with far-reaching impacts across industry, society, and education. The technology developed in the proposed activities will offer a safer, more precise, and cost-effective alternative to traditional operations. Its ability to perform stable, close-contact work on submerged structures reduces operational risks, lowers carbon-intensive vessel use, and enables intervention in previously inaccessible or hazardous locations. Results of this project will ensure structural integrity, operational continuity, and regulatory compliance, while minimizing the potential for catastrophic events, and improving efficiency in infrastructure management. This Small Business Innovation Research (SBIR) Phase II project addresses the current challenges associated with robotic submerged infrastructure inspection in dynamic and/or constrained environments. The proposed research aims to advance the field of robotics by introducing a novel class of legged robots capable of securely gripping and maneuvering on submerged pipes and irregular surfaces. Unlike conventional thruster-dependent ROVs, which often struggle to maintain stability during close-contact tasks, the proposed platform will use mechanical gripping and multi-legged locomotion to achieve steady, precise tool delivery. Each of the multi-jointed legs of the robotic system will be designed to grasp and enable coordinated movement along a submerged structure, allowing the system to deploy cleaning and inspection tools to the structure to identify thinning pipelines in advance of ruptures. This research will generate a digital twin physics simulation to inform control strategies before deployment, thereby decreasing development time and enhancing applicability. This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.