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The backswimmer fly is an aquatic insect, capable of regulating its buoyancyunderwater. Its abdomen is covered with hemoglobin cells, used to bind andrelease oxygen, reversibly. Upon entering water, the fly entraps an air bubblein a superhydrophobic hairy structure on its abdomen for respiration. Thisbubble, however, can change its volume through regulated oxygen flow from theabdominal hemoglobin cells. In this way, it can reach neutral buoyancy withoutfurther energy consumption. In this study, we develop a small, centimeterscale, backswimmer inspired robot (BackBot) with auto-buoyancy regulationthrough controlled nucleation and release of microbubbles. The bubbles nucleateand grow directly on onboard electrodes through electrolysis, regulated by lowvoltage. We use 3D printing to introduce a three-dimensional bubble-entrappingcellular structure, in order to create a stable external gas reservoir. Toreduce buoyancy forces, the bubbles are released through linear mechanicalvibrations, decoupled from the robot's body. Through pressure sensing and aProportional Integral Derivative control loop mechanism, the robotauto-regulates its buoyancy to reach neutral floatation underwater withinseconds. This mechanism can promote the replacement of traditional andphysically larger buoyancy regulation systems, such as pistons and pressurizedtanks, and to enable the miniaturization of Autonomous Underwater Vehicles.

Backswimmer Inspired Miniature Robot with Buoyancy Auto-Regulation through Controlled Nucleation and Release of Microbubbles