Abstract
In 2014, Korea Research Institute of Ships and Ocean Engineering (KRISO) developed underwater walking robot Crabster (CR200) which is hexapod robot and it is developed for exploration in the severe conditions for example, murky water and tidal currents. West sea of Korea has such severe environment to walk for robot. In this paper, we describe walking stability of seabed walking robot which is CR200 as a target example. 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. Using derived judgement equation of walking stability, we simulated walking stability when the robot walks in forward incident current condition.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Jun BH, Shim HW, Kim BH, Park JY, Baek H, Yoo SY Lee PM (2013) Development of seabed walking robot CR200. In: MTS/IEEE Oceans 2013 Bergen, pp 1–5
Hirose S, Tsukagoshi H, Yoneda K (1998) Normalized energy stability margin: Generalized stability criterion for walking vehicles. In: Proceedings of the international conference on climbing and walking robots, pp 71–76
Zhang C, Song S (1990) Stability analysis of wave-crab gaits of a quadruped. J Robot Syst 7(2):243–276
Jun BH, Shim HW, Yoo SY (2015) Dynamic tumble stability analysis of seabed walking robot in forward incident currents. Trans Korean Soc Mech Eng 39(8):743–749
Acknowledgements
This research was supported by the Keimyung University Research Grant of 20170552.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Yoo, SY. (2020). A Study of Walking Stability of Seabed Walking Robot in Forward Incident Currents. In: P. P. Abdul Majeed, A., Mat-Jizat, J., Hassan, M., Taha, Z., Choi, H., Kim, J. (eds) RITA 2018. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-13-8323-6_21
Download citation
DOI: https://doi.org/10.1007/978-981-13-8323-6_21
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-8322-9
Online ISBN: 978-981-13-8323-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)