Underwater Walking Mechanism of Underwater Amphibious Robot Using Hinged Multi-modal Paddle
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Underwater Walking Mechanism of Underwater Amphibious Robot Using Hinged Multi-modal Paddle Taesik Kim, Young-woon Song, Seokyong Song, and Son-Cheol Yu* Abstract: This study proposes an underwater walking mechanism for an underwater amphibious robot that is propelled by a degree of freedom flapping foil system. To implement stable walking in water, we proposed a distinctive hinged multi-modal paddle and developed an underwater amphibious robot. For the proposed paddle, forward walking model is proposed regarding both the ground contact and hydrodynamic forces in each walking phase: the stance and swing phases. Then, we generalized dynamic equations of motion for the amphibious robot based on the forward walking model. The proposed mechanism and robot were evaluated through thrust and forward walking tests in an indoor water tank. The results of the forward walking test exhibited a highly accurate trajectory of legged locomotion compared to the model-based simulation results. Moreover, field tests on gravel and soft terrains of a seabed, revealed that the proposed system allowed the amphibious robot to walk qualitatively. Keywords: Biomimetics, legged locomotion, oscillating fin, seabed walking.
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INTRODUCTION
Autonomous underwater vehicles (AUVs) are currently widely used in underwater research fields as primary tools for data collection including seabed mapping [1,2], object recognition [3–5], and marine life observation [6]. Various control techniques [7–9], navigation [10], and scanning method [11] have been proposed to increase the data accuracy of applications and expand the scope of investigations. In general, AUVs are classified into torpedo, hovering, and glider types according to their design, and they typically use a conventional propeller in their propulsion system. Biomimetic autonomous underwater vehicles (BAUVs) are another class of AUVs that use bio-inspired propulsion mechanism. The biomimetic approach has been proposed to replicate effective movements of underwater living creatures, such as a crab [12], fish [13–15], jellyfish [16], and octopus [17, 18] without any conventional propeller. The oscillating fin/foil or flapping paddle system is a bio-inspired propulsion method that generates dynamic hydro-forces, including drag and lift forces in water. With several control parameters, such as target offset angle, amplitude, and oscillation period, the paddle can control the thrust and direction by creating different flows in the water. A variety of paddle-actuated BAUVs having one [19–22] or several [23,24] degree of freedom (DoF) joints
have been developed in recent years. Based on the biologically inspired ground robot RHex [25,26], AQUA is a representative underwater robot under the category of paddleactuated BAUVs [19]. By using six paddles with one-DoF joints, which is the simplest paddle system, AQUA can freely swim in five DoF in water: surge, heave, roll, pitch, and yaw. The underwater robot U-CAT with four paddles was develo
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