Preliminary design of the multi-legged underwater walking robot CR200

Jun, Bong-Huan; Shim, Hyun Woo; Kim, B.; Park, J. Y.; Baek, Hyuk; Lee, P. M.; Kim, W. J.; Park, Y. S.

doi:10.1109/oceans-yeosu.2012.6263600

Cited by 25 publications

(9 citation statements)

References 9 publications

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“…The category of ULRs is very heterogeneous in terms of morphology and size. Prototypes with one [70,71], two [75], four [68,72,89], six [24,84,102,103,107,108], and eight legs [87] were developed, and legs with one [99], two [71,92], three [24,72,109], or more [110] DoFs were employed. Naturally, ULRs with a higher number of DoFs are potentially more versatile and several behaviours can be implemented on the same robot.…”

Section: Modelling and Controlmentioning

confidence: 99%

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: Modelling and Controlmentioning

confidence: 99%

Underwater legged robotics: review and perspectives

et al. 2023

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“…We utilize existing and relevant technologies to develop UMSWR. Exploiting the Joint mechanism and walking technology of multi-legged on-land and underwater robots, waterproof and hydrodynamic technologies from AVU, ROV, and other underwater installed systems and Pressure hull technologies of submersible and submarine [21,33,34]. The utilization of these and other relevant technologies and their approaching methods to develop these technologies are discussed.…”

Section: Fundamental Technologies Of the Umswrmentioning

confidence: 99%

Concept Design of the Underwater Manned Seabed Walking Robot

Khan

Wang

et al. 2019

JMSE

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In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1–2 m/sec) and deep water up to 500 m. It is powered by an external electric power source through tether cable. It walks on the seabed with six legs, which makes it distinct from conventional screw-propelled underwater robots. It can walk calmly without making the water turbid. Two anterior arms act as manipulators. All leg joints and manipulators are controlled by Brushless Direct Current Motors. Motivation for this concept comes from soldier crab that walk mostly forward and has an egg-shaped body. It is operated by a pilot sitting in a pressurized cabin, and promptly control operations of the robot and manipulator. Preliminary design of the pressurized cabin, using an empirical formula, “ASME PVHO-1 2007” standard, and validation was carried out through ANSYS Workbench. Hydrodynamic forces acting on the robot body and legs are utilized to withstand the water current and external forces to adjust legs and body posture for stability. Buoyancy rules are employed to control its rising and diving motion. All key technologies employed in the development of the robot and their approaching methods are explained. It will provide a safe operation space for humans in underwater operations.

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“…In [ 3 ], a hexapod robot walking underwater considering hydrodynamics effects to improve the stability margin was considered. Picardi [ 4 ] reported a bioinspired hexapod robot with two locomotion modes: hopping and walking, where the leg motors reached the position of the next state, depending on which a momentum around a vertical axis could be generated, resulting in a rotation movement.…”

Section: Introductionmentioning

confidence: 99%

Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation

Bayas

Cely

Sintov

et al. 2022

Sensors

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Exploration of the seabed may be complex, and different parameters must be considered for a robotic system to achieve tasks in this environment, such as soil characteristics, seabed gait, and hydrodynamic force in this extreme environment. This paper presents a gait simulation of a quadrupedal robot used on a typical terrigenous sediment seabed, considering the mechanical properties of the type of soil, stiffness, and damping and friction coefficients, referenced with the specialized literature and applied in a computational multibody model with many experimental data in a specific underwater environment to avoi hydrodynamic effects. The requirements of the positions and torque in the robot’s active joints are presented in accordance with a 5R mechanism for the leg and the natural pattern shown in the gait of a dog on the ground. These simulation results are helpful for the design of a testbed, with a leg prototype and its respective hardware and software architecture and a subsequent comparison with the real results.

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Preliminary design of the multi-legged underwater walking robot CR200

Cited by 25 publications

References 9 publications

Underwater legged robotics: review and perspectives

Underwater legged robotics: review and perspectives

Concept Design of the Underwater Manned Seabed Walking Robot

Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation

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