On Determining the Optimal Lifting Law of the Walking Propulsion Device Foot of an Underwater Robot from the Bottom

Abstract

The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered, taking into account the additional “compression” force acting on it. A mathematical model has been developed for the detachment of a propulsion foot from the ground, based on Henry's laws establishing the concentration of dissolved air in a liquid, the law of gas expansion at a constant temperature, Darcy's law on fluid filtration and the theorem on the motion of the center of mass of a solid body. The linearized model allows to obtain and analytical solutions. Based on the solution of the variational problem, optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.