Increasing the efficiency of underwater operations with the help of automatic machines can be achieved by using a robotic complex in a special configuration -with a functional division into three interacting parts: a remote control panel with an operator; a basic underwater walking platform, connected by a cable with the control panel for information and energy supply; a group of autonomous robots with increased maneuverability, having information communication lines with the base station via a contactless channel. Within the framework of this concept, the paper considers and solves the main problems of creating information-control systems for such robotic systems, including the necessary communication tools. One of the key solved problems was constructing the proper sensor-control real-time software system. The paper was partially supported by RFBR, projects 16-
Purpose of the work is to investigate possibility of practical application of walking machines for seabed movement. In particular, main tasks of investigation: tractional properties, passableness, methods of control. Technical features of walking machine "Vosminog" and underwater walking machine MAK-1, designed for shallow work, are noted in this paper. Advantages of walking machines in underwater conditions are described. Possibilities to improve adaptive characteristics and passableness of vehicle's cyclic walking locomotors are considered. Some of methods for motion control of underwater walking robot under conditions of incomplete and ambiguous understanding of the current situation are tested. Results of research and tests in real conditions of walking robots, which moves on sea bottom, are presented in the paper. It have shown that in underwater conditions walking type of mover for robots by roadhold properties and ground passableness essentially exceed traditional type of mover. Results of work can be demand during development of robotic systems, designed for advanced industrial technology for seabed resources mastering.
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