Research Status of Underwater Hexapod Robot and Its Motion Planning

被引：0
|
作者：
Sun Y. [1 ,2 ,3 ,4 ]
Zhang Q. [1 ,2 ,3 ,5 ]
Liu X. [1 ,2 ,3 ,4 ]
Yang X. [1 ,2 ,3 ,4 ]
Zhang A. [1 ,2 ,3 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
[3] Key Laboratory of Marine Robotics, Liaoning Province, Shenyang
[4] University of Chinese Academy of Sciences, Beijing
[5] Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou), Guangzhou
来源：
Jiqiren/Robot | 2023年 / 45卷 / 06期
关键词：
adaptive walking; path planning; stability criterion; underwater hexapod robot;
D O I：
10.13973/j.cnki.robot.220149
中图分类号：
学科分类号：
摘要：
The underwater hexapod robot has redundant limbs, and can walk in various gaits. It has a broad application prospect for its discrete supporting way and excellent adaptability to the complex and special terrains (underwater obstacles, reefs, etc). The development status of underwater hexapod robot platform is summarized in this paper, based on sufficient literature research and summary. Aiming at the crawling ability of underwater hexapod robot, three key technologies are analyzed and summarized respectively, including stability criteria, path planning, and adaptive walking method. For stability criteria, the static and dynamic stability criteria of underwater hexapod robot are described respectively. Based on the current typical path planning methods of land hexapod robot, the path planning of underwater hexapod robot is described according to its unique motion characteristics. For the adaptive walking of underwater hexapod robot, the traditional adaptive adjustment methods and the current methods based on deep reinforcement learning are introduced respectively. Finally, the future development trends of these key technologies are prospected. © 2023 Chinese Academy of Sciences. All rights reserved.
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页码：737 / 755
页数：18
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