Title :
A multi-limbed underwater robot and its gait study
Author :
Hong, Zhang Jiang ; Tiong, Yap Kian ; Song, Wang Jin
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore
Abstract :
In surf zones, it is quite difficult for traditional propeller-driven vehicles to operate and realize tasks. In this respect, a multi-limbed robot has significant potential. In order to resist the strong wave flow and difficult terrain, stability and mobility should be considered first in a prototype design. In this paper, an improved five-limbed robot prototype is introduced and analyzed for underwater-walking. The study emphasizes gait planning, stability and prototype design
Keywords :
biomechanics; legged locomotion; marine systems; mobile robots; path planning; stability; difficult terrain; five-limbed robot prototype; gait planning; mobility; multi-limbed underwater robot; propeller-driven vehicles; prototype design; robot gait; stability; strong wave flow; surf zones; underwater walking; Foot; Leg; Legged locomotion; Mobile robots; Propulsion; Prototypes; Resists; Stability; System recovery; Trajectory;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.626182
