수중 보행 로봇의 이동성 및 민첩성 해석

Abstract

This paper presents a mathematical framework for analysis of a mobility and agility of underwater walking robot in consideration of tidal current and frictional ground contact. The proposed method is the base study for influence analysis of tidal current on multi-legged robot, in which the hydrodynamic forces acting on its body and legs are considered. For this work, a dynamic equations for subsea legged robot and a torque constraint equation are derived. Also the mathematical framework is established to calculate the linear acceleration(mobility) and angular acceleration(agility) bounds of the robots body center from the dynamic and constraint equations. To verify the proposed method, the simplified model of 4-legged robot is utilized and the simulations considering tidal current are performed. The acceleration bounds obtained from simulations are depicted as polytopes showing the validity of this study.