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Mobility and agility of a multi-legged subsea robot considering tidal current

Authors
Shim, H.Jun, B.-H.Lee, P.-M.Lim, Y.-K.
Issue Date
2011
Citation
OCEANS 2011 IEEE - Spain
Journal Title
OCEANS 2011 IEEE - Spain
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8864
DOI
10.1109/Oceans-Spain.2011.6003538
ISSN
0000-0000
Abstract
This paper presents a unified method for analysis of a mobility and agility of a multi-legged subsea robot in consideration of the tidal current and frictional ground contact. The aim of this research is to analyze an influence of tidal current on the multi-legged robot by utilization of hydrodynamic forces acting on its body and legs. This method derives the region of both linear acceleration (mobility) and angular acceleration (agility) that ensures no slip at each foot with given torque bound of each joint and hydrodynamic force due to underwater environment. After deriving a differential equation including joint actuator torques and body acceleration from subsea robot dynamics and frictional contact condition, we have derived a joint torque constraint equation for ensuring no slip at the contact point. Under the torque limits in infinite norm-sense, the resultant accelerations are represented as a polytope. The proposed method is verified by simulations of a simplified 6-legged subsea robot. ? 2011 IEEE.
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