Underwater infrastructure inspection in submersible harsh water environments has many challenging technical issues due to strong water flow/waves, turbulence, muddy liquid, organic or plastic solids, and waterweed etc, combined with some other critical issues such as unstructured uncertain environments, limited space, high pressure, and/or low visibility etc. Nowadays, such regular inspection still highly rely on traditional methods with manpower subject to high cost/risk and low efficiency/accuracy. This project is therefore aimed to develop an innovative customer-tailored bio-inspired generic robotic system which can provide a more flexible, efficient, reliable, and high-quality inspection of underwater infrastructures in harsh water environments, with benchmark applications or site trials for pier inspection, which can further be extended to many other applications for drainage tunnel inspection, underwater cable/pipe inspection, and health monitoring or inspection of underwater structures in harsh water environments including coastlines, rivers and lakes. The deliverable will well serve those demanding and increasing needs of obvious social impact in Hong Kong, mainland China and many other big cites surrounded by water/ocean of the world.