[2607.13633] Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue

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arXiv:2607.13633 (cs)

[Submitted on 15 Jul 2026]

Title:Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue

Authors:Lianxin Zhang, Yihan Huang, Huihuan Qian<br>View a PDF of the paper titled Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue, by Lianxin Zhang and 2 other authors

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Abstract:Prompt extraction of victims from water is crucial in water surface rescue missions. However, previous research on rescue robots has seldom addressed this issue. This paper presents QuadBoat, a bio-inspired unmanned surface vehicle (USV) designed to track and retrieve victims from water. QuadBoat features a quadrupedal robot configuration, enabling it with highly adaptable and agile maneuverability through its actively adjustable posture. Employing an inverse kinematics-based controller and cascaded model predictive control (MPC)-PID controller for overall movement, QuadBoat can accurately track and retrieve objects on the water surface. Maneuverability demonstrations validate QuadBoat's high agility, while a series of tracking experiments, including leg action tracking and trajectory tracking, confirm its high motion accuracy and system mobility. Finally, visual-based tracking and object pickup experiments further verify QuadBoat's target tracking capabilities and its effectiveness in executing rescues, both indoors and outdoors.

Subjects:

Robotics (cs.RO)

Cite as:<br>arXiv:2607.13633 [cs.RO]

(or<br>arXiv:2607.13633v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.13633

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arXiv-issued DOI via DataCite (pending registration)

Submission history<br>From: Lianxin Zhang [view email]<br>[v1]<br>Wed, 15 Jul 2026 09:27:33 UTC (6,951 KB)

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