정밀 수중 탐사를 위한 CR200의 자세 및 보행 제어 기법

Abstract

This paper presents the posture and walking control method of CRABSTER200(CR200), 200 meter-class 6-legged seabed walking robot, for precise underwater exploration in a low visibility environment. CR200 has various underwater exploration equipments to explore subsea environment precisely. In order to increase the exploration efficiency and accuracy of the equipments, the kinematic body posture change and walking algorithm has been developed. The body posture control method is established through a coordinates transformation technique to generate the redundancy of underwater equipments(acoustic camera, high resolution scanning sonar). For high stability of walking and exploration, a 5 point supported gait method is applied to the walking algorithm. These methods create the joint paths of each leg for the desired body posture and foot position. This paper shows the simulation and experimental result of the posture and walking control of CR200. Also, to verify the effectiveness of proposed method, sonar images obtained through a sea trial are depicted according to differential body posture.uipments to explore subsea environment precisely. In order to increase the exploration efficiency and accuracy of the equipments, the kinematic body posture change and walking algorithm has been developed. The body posture control method is established through a coordinates transformation technique to generate the redundancy of underwater equipments(acoustic camera, high resolution scanning sonar). For high stability of walking and exploration, a 5 point supported gait method is applied to the walking algorithm. These methods create the joint paths of each leg for the desired body posture and foot position. This paper shows the simulation and experimental result of the posture and walking control of CR200. Also, to verify the effectiveness of proposed method, sonar images obtained through a sea trial are depicted according to differential body posture.