Design and Validation of an Underwater Quadruped Robot for Amphibious Mobility
This research explores a novel underwater quadruped robot for diverse applications.
Legged robots are typically effective on land, but their functionality in underwater settings is limited. This study introduces a quadruped robot designed for underwater use, enhancing its mobility for tasks such as inspection and environmental monitoring.
Robot Design and Features
The robot features custom waterproof motor housings made from polyoxymethylene plastic, utilizing standard O-rings and dynamic shaft seals. A simplified dynamic model is presented to analyze the robot's performance in water, focusing on how drag forces affect its movement.
Control System Development
A closed-loop attitude controller is created based on the dynamics of the robot, which is tested in simulations and real-world experiments in a water tank. The controller successfully manages the robot's orientation in roll, pitch, and yaw.