CR200의 조류환경에서의 보행 안정성 검토

Abstract

In this paper, we describe dynamic walking stability of seabed walking robot, Crabster(CR200). Since CR200 is operated in condition of tidal currents, walking stability analysis should include effect of tidal currents. In order to judge walking stability in tidal current, we consider an effect of hydrodynamic moment due to the currents. Also, we derive equations of walking stability for moving legs to judge walking stability. We are under simulations of walking stability in tidal currents for various walking method and we can notice that relation between walking method and tidal currents in end of the simulations.king stability in tidal current, we consider an effect of hydrodynamic moment due to the currents. Also, we derive equations of walking stability for moving legs to judge walking stability. We are under simulations of walking stability in tidal currents for various walking method and we can notice that relation between walking method and tidal currents in end of the simulations.