Hopping on Uneven Terrains With an Underwater One-Legged Robot

被引：41
作者：
Calisti, Marcello [1 ]
Falotico, Egidio [1 ]
Laschi, Cecilia [1 ]
机构：
[1] Scuola Super Sant Anna, BioRobot Insitute, I-56025 Pisa, Italy
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2016年 / 1卷 / 01期
关键词：
Multilegged Robots; Marine Robotics; Biologically-Inspired Robots;
D O I：
10.1109/LRA.2016.2521928
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this letter, a fundamental model for underwater legged locomotion, called U-SLIP, is presented and implemented on a robotic platform. Unlike traditional locomotion models, U-SLIP addresses specific hydrodynamic contributions, such as drag, buoyancy, and added mass. By taking as a reference the U-SLIP model, we derived the design principles to build an effective underwater legged robot able to achieve self-stabilizing running. For the first time, a robotic platform can exhibit a dynamic mode of locomotion composed of swimming and pushing phases, demonstrating self-stabilizing running with a little control. Experiments conducted over different uneven terrains corroborate the effectiveness of the proposed model.
引用
收藏
页码：461 / 468
页数：8
相关论文
共 34 条
[1]  
Christ R.D., Wernli R.L., The ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles, (2011)
[2]  
Antonelli G., Underwater Robots Motion and Force Control of Vehicle-Manipulator Systems, (2006)
[3]  
De Santos P., Garcia E., Estremera J., Quadrupedal Locomotion: An Introduction to the Control of Four-Legged Robots, (2006)
[4]  
Noda S., Murooka M., Nozawa S., Kakiuchi Y., Okada K., Inaba M., Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot, Proc IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1775-1781, (2014)
[5]  
Hashimoto K., Et al., Realization of biped walking on soft ground with stabilization control based on gait analysis, Proc IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), pp. 2064-2069, (2012)
[6]  
Yoon S.-M., Hong S., Park S.-J., Choi J.-S., Kim H.-W., Yeu T.-K., Track velocity control of crawler type underwater mining robot through shallow-water test, J. Mech. Sci. Technol., 26, 10, pp. 3291-3298, (2012)
[7]  
Waldmann C., Richter L., Traction properties of the wheels of an underwater crawler on different soils, Proc. OCEANS, pp. 1-7, (2007)
[8]  
Kim J.-Y., Jun B.-H., Design of six-legged walking robot, Little Crabster for underwater walking and operation, Adv. Robot., 28, 2013, pp. 77-89
[9]  
Akizono J., Tanaka T., Nakagawa K., Tsuji T., Iwasaki M., Seabottom roughness measurement by aquatic walking robot, Proc. MTS/IEEE Conf. OCEANS, Oct., 2, pp. 1395-1398, (1997)
[10]  
Ayers J., Witting J., Biomimetic approaches to the control of underwater walking machines, Trans. Roy. Soc. A, 365, pp. 273-295, (2007)
1234