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Absbad -This paper describe an underwater walking mbotic system being developed under the name AQUA, the goals of the AQUA pmjecf the overall hardware and sofhvare design, the basic hardware and sensor packages that have heen developed, and some iaithl experiments. The mbat is based on the RHex hexapod mbot and usel B mite of sensing technologies, primarily based on computer vlrlon and INS, to allow it to naiigate and map clear shallow-water environments. The sensor-based navigation and mapping algorithms are based on the ore of both artincid floating visual m d aroustie inndmnrks BP well BE on naturally occurring uodemrter landmarks and trioocuhr stereo.