|Article title||MOTION CONTROL OF UNDERWATER WALKING MACHINES MOVING ACROSS THE BOTTOM|
|Authors||V.V. Chernyshev, V.V. Arykantsev, An.E. Gavrilov|
|Section||SECTION II. MARINE ROBOTICS|
|Month, Year||01, 2016 @en|
|Abstract||Walking machines and robots, which move at sea bottom in some cases, have a range of significant advantages, in comparison with swimming devices and traditional wheeled and tracked machines. Different approaches to movement control of underwater walking robotic systems are discussed in the work. The analysis of information measuring and control system of known seabed self-moved units was held. Typical problems, which appear during movement control of underwater walking devices are marked. It is was shown, that task of efficient adaptive type of underwater walking robots control is not solved yet. Offered the new approach to underwater walking devices with cyclic movers control. Cyclic movers allow not to care about safety and stability of the walk and exclude the necessity of controlled adaptation system. In result, machines have a minimal number of controlled degrees of freedom and become significantly simpler and cheaper than analogues with adaptive control. Some results of the walking device MAK-1, which was developed for optimization of cyclic walking mechanisms parameters and adjustment of control methods of robotic systems, which move at sea bottom, subsea tests are shown. Held experiments are also confirmed significant exellence of walking machines on ground and shape passableness in comparison with traditional vehicles. It is shown, that underwater devices of that type can find a wide application already nowadays. Results can be demand in development of underwater walking robotic systems, designed for subsea works execution, for new industrial technologies of seabed resources mastering, for anti-terrorist and technogenic safety of subsea infrastructure objects providing, etc.|
|Keywords||Underwater units, bottom-moved machines, robotic system; mobile robot; mechatronic device; subsea technical works; information measuring and control system; sensors, walking mover, subsea tests.|
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