Analysis of Station Keeping Performance of an Underwater Legged Robot

Chellapurath, Mrudul; Walker, Kyle L.; Donato, Enrico; Picardi, Giacomo; Stefanni, Sérgio; Laschi, Cecilia; Giorgio-Serchi, Francesco

doi:10.1109/tmech.2021.3132779

Cited by 13 publications

(9 citation statements)

References 42 publications

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“…On the other hand, researchers that followed a holistic modelling approach based on extensions of the spring loaded inverted pendulum (SLIP) template [69,[79][80][81], preferred to use lumped models for hydrodynamic contributions, and just account for a generic and uncertain parameter for drag, enough to predict the amount of energy dissipated during non-contact phases. The developers of CR200 [82] and SILVER2 [83] estimated the drag acting on their ULRs for a set of static poses using fluiddynamic simulation software. However, estimation of the continuous evolution of hydrodynamic contributions during locomotion has never been reported at the time of writing.…”

Section: Hydrodynamic Effectsmentioning

confidence: 99%

“…SILVER2 has been deployed in several field trials aiming at assessing its capabilities to promote an objective comparison with more traditional underwater vehicles. The acoustic footprint of SILVER2 was observed to be lower than the one of ROVs of similar dimensions [73], and similarly, it exhibited a higher energetic efficiency during station keeping tasks [83]. In terms of manipulation, SILVER2 has been equipped with a soft pneumatic arm to collect several objects [125] and other various end-effectors including sediment samplers and a soft tendon driven gripper.…”

Section: Ulrs Tested In the Fieldmentioning

confidence: 99%

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Underwater legged robotics: review and perspectives

et al. 2023

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Nowadays, there is a growing awareness on the social and economic importance of the ocean. In this context, being able to carry out a diverse range of operations underwater is of paramount importance for many industrial sectors as well as for marine science and to enforce restoration and mitigation actions. Underwater robots allowed us to venture deeper and for longer time into the remote and hostile marine environment. However, traditional design concepts such as propeller driven Remotely Operated Vehicles (ROVs), Autonomous Underwater Vehicles (AUVs), or tracked benthic crawlers, present intrinsic limitations, especially when a close interaction with the environment is required. An increasing number of researchers are proposing legged robots as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance. In this work, we aim at presenting the new field of underwater legged robotics in an organic way, discussing the prototypes in the state-of-the-art and highlighting technological and scientific challenges for the future. First, we will briefly recap the latest developments in traditional underwater robotics from which several technological solutions can be adapted, and on which the benchmarking of this new field should be set. Second, we will the retrace the evolution of terrestrial legged robotics, pinpointing the main achievements of the field. Third, we will report a complete state of the art on Underwater Legged Robots (ULRs) focusing on the innovations with respect to the interaction with the environment, sensing and actuation, modelling and control, and autonomy and navigation. Finally, we will thoroughly discuss the reviewed literature by comparing traditional and legged underwater robots, highlighting interesting research opportunities, and presenting use case scenarios derived from marine science applications.

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Section: Hydrodynamic Effectsmentioning

confidence: 99%

Section: Ulrs Tested In the Fieldmentioning

confidence: 99%

Underwater legged robotics: review and perspectives

et al. 2023

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“…These platforms can be utilized for environmental surveillance and monitoring of the subsea infrastructure. For instance, Chellapurath et al 84 have proposed a station keeping mechanism based on a legged robot which has shown to have higher station keeping efficiency (28%) than that of the commercial propeller based ROVs.…”

Section: Potential Areas Of Researchmentioning

confidence: 99%

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

et al. 2022

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Marine operations required to transfer technicians and equipment represent a significant proportion of the total cost of offshore wind. The profile of sites being considered for floating offshore wind farms (FOWFs), e.g., further from the shore and in harsher environments, indicates that these costs need to be assessed by taking into account the maintenance requirements and restricted weather windows. There is an immediate need to investigate the potential use of robotic systems in the wind farm's operations and maintenance (O&M) activities, to reduce the need for costly manned visits. The use of robotic systems can be critical, not only to replace repetitive activities and bring down the levelised cost of energy but also to reduce the health and safety risks by supporting human operators in performing the desired inspections.This paper provides a review of the state of the art in the applications of robotics for O&M of FOWFs. Emerging technology trends and associated challenges and opportunities are highlighted, followed by an outline of the agenda for future research in this domain.

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“…Mantas and rays belong to the last category as they swim flapping their large triangular fins, and their swimming strategy is considered as one with the highest energy efficiency and maneuverability [ 3 ]. Moreover, unlike thrust propellers, they do not disturb wildlife, so they are the best choice for marine life observation and environmental monitoring [ 4 , 5 , 6 ]. Biomimetic robots could also interact with fishes, so they are useful for studying the collective behavior of fishes [ 7 , 8 , 9 , 10 ], or to influence their behavior [ 11 ], making this kind of robot a useful tool to give fishes socio-emotional support [ 12 ].…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Cownose Ray Robot for Seabed Exploration

et al. 2023

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This article presents the design and the experimental tests of a bioinspired robot mimicking the cownose ray. These fish swim by moving their large and flat pectoral fins, creating a wave that pushes backward the surrounding water so that the fish is propelled forward due to momentum conservation. The robot inspired by these animals has a rigid central body, housing motors, batteries, and electronics, and flexible pectoral fins made of silicone rubber. Each of them is actuated by a servomotor driving a link inside the leading edge, and the traveling wave is reproduced thanks to the flexibility of the fin itself. In addition to the pectoral fins, two small rigid caudal fins are present to improve the robot’s maneuverability. The robot has been designed, built, and tested underwater, and the experiments have shown that the locomotion principle is valid and that the robot is able to swim forward, perform left and right turns, and do floating or diving maneuvers.

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Analysis of Station Keeping Performance of an Underwater Legged Robot

Cited by 13 publications

References 42 publications

Underwater legged robotics: review and perspectives

Underwater legged robotics: review and perspectives

Applications of robotics in floating offshore wind farm operations and maintenance: Literature review and trends

A Bioinspired Cownose Ray Robot for Seabed Exploration

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