Preliminary water tank test of a multi-legged underwater robot for seabed explorations

Yoo, Seong-Yeon; Jun, Bong-Huan; Shim, Hyun Woo; Park, Jin-Yeong; Baek, Hyuk; Kim, Bang-hyun; Lee, Gyeong-Mok; Kang, Hangoo; Jeong, Woo-Young; Baek, Se-Hoon; Lee, Pan-Mook

doi:10.23919/oceans.2015.7404409

Cited by 9 publications

(3 citation statements)

References 4 publications

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“…Brushless DC motors with harmonic drives have been used for actuation [135][136][137]. In terms of locomotion, CR200 is capable of static walking gaits [138] and swimming [112] with reported trials in a tank [139] and in the field [108]. A waypoint tracking control for the walking mode was also proposed [140].…”

Section: Ulrs Tested In the Fieldmentioning

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: Ulrs Tested In the Fieldmentioning

confidence: 99%

Underwater legged robotics: review and perspectives

et al. 2023

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“…We performed a water tank test to confirm the simulation results before the sea trial. This test was conducted in a facility at the KRISO (Korea Research and Institute of Ship and Ocean Engineering) and sonar images were acquired through the downward HHM function [31].…”

Section: Kinematic Model Of the Cr200mentioning

confidence: 99%

The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

Baek¹,

Jun²,

Noh

2020

Sensors

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In this paper, we discuss underwater walking robot technology to improve the quality of raw data in sector-scanning sonar images. We propose a strategy for an efficient and precise sector-scanning sonar image acquisition method for use in shallow, strong tidal water with a curved and sloped seabed environment. We verified the strategy by analyzing images acquired through a sea trial using the sector-scanning sonar installed on the CRABSTER (CR200). Before creating this strategy, an experiment was conducted to acquire the seabed image near a pier using a tripod and vertical pole. To overcome the problems and limitations revealed through image analysis, we established two technical strategies. In conclusion, we were able to achieve those technical strategies by using the CR200, which is resistant to strong current, and its six legs provide freedom of movement, allowing for a good sonar attitude.

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“…By imitating these animals, many scientists had designed different types of amphibious bionic robots. According to the biological prototypes of various amphibians, the amphibious bionic robots contained the crab-like robot, 8,9 the cockroach-like robot, 4,7 the lobster-inspired robot, 10 the salamander robot, 11,12 the turtle-inspired robot, [13][14][15] the frog-like robot, 16,17 the octopus-inspired robot, 18,19 and the snake-like robot. 20,21 Early in the 20th century, some scientists had invented some mechanical arms or legs which lead to the rapid development of the amphibious robots.…”

Section: Introductionmentioning

confidence: 99%

Adaptive obstacle climbing and hydrodynamic performance analyses of the amphibious robot with wheels and flexible undulating fins

Yin

Xia

Luo

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, an amphibious robot with flexible undulating fins and self-adaptive climbing wheels are proposed for satisfying the needs of industrial applications. The structure of the climbing mechanism and undulating fin are firstly designed. Then, the adaptive obstacle climbing and the hydrodynamic characteristics are investigated through numerical simulations by using the Adams and Fluent, respectively. Finally, the experimental measurements of the land walking and underwater propulsion are studied. The numerical results illustrate that the amphibious robot could climb the vertical obstacle adaptively. In the underwater marching pattern, the underwater velocity could reach 1 m/s. In the rotating and yawing patterns, the angular velocity increases to the certain value while the rotating angle keeps increasing. The robot moves forward and turns around with the difference frequency of the undulating fins. The underwater propulsion and land-walking experiments show good swimming performance and the obstacle crossing ability of the amphibious robot, respectively, which verify the numerical simulation.

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Preliminary water tank test of a multi-legged underwater robot for seabed explorations

Cited by 9 publications

References 4 publications

Underwater legged robotics: review and perspectives

Underwater legged robotics: review and perspectives

The Application of Sector-Scanning Sonar: Strategy for Efficient and Precise Sector-Scanning Using Freedom of Underwater Walking Robot in Shallow Water

Adaptive obstacle climbing and hydrodynamic performance analyses of the amphibious robot with wheels and flexible undulating fins

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