Design and soft-landing control of underwater legged robot for active buffer landing on seabed
Traditional underwater vehicles are prone to causing damage to the geomorphology for the close inspection of submarine coral reefs. In this study, a kind of underwater legged robot (ULR) with active buffer landing ability is designed. The kinematics of the robot and the dynamic model considering hyd...
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Published in | Ocean engineering Vol. 266; p. 112764 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
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Elsevier Ltd
15.12.2022
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Abstract | Traditional underwater vehicles are prone to causing damage to the geomorphology for the close inspection of submarine coral reefs. In this study, a kind of underwater legged robot (ULR) with active buffer landing ability is designed. The kinematics of the robot and the dynamic model considering hydrodynamics are established. To reduce the impact load of the robot landing on the seabed, an active buffer landing control strategy is proposed. The control strategy incorporates state-based impedance parameters adjustment and Spring-loaded Inverted Pendulum (SLIP) model to address the limitations of joint torque and tiptoe force, respectively. The underwater buffer landing process is simulated by the co-simulation of Adams and Matlab/Simulink. When the vertical landing velocity is 1.24 m/s and the negative buoyancy (gravity minus buoyancy) is 25 kgf, the robot can fully absorb the impact energy and reach a stable state within 2.09 s. In addition, the simulation results show that the underwater hexapod robot has the ability to achieve fast and smooth landing under complex conditions. This study provides an important support for the deployment of the underwater legged robot's free diving to the seabed without cable in the future.
•An underwater hexapod robot with active buffer landing capability is designed.•The dynamic model is established and the soft landing controller is proposed.•The effectiveness of soft landing controller is verified by co-simulations. |
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AbstractList | Traditional underwater vehicles are prone to causing damage to the geomorphology for the close inspection of submarine coral reefs. In this study, a kind of underwater legged robot (ULR) with active buffer landing ability is designed. The kinematics of the robot and the dynamic model considering hydrodynamics are established. To reduce the impact load of the robot landing on the seabed, an active buffer landing control strategy is proposed. The control strategy incorporates state-based impedance parameters adjustment and Spring-loaded Inverted Pendulum (SLIP) model to address the limitations of joint torque and tiptoe force, respectively. The underwater buffer landing process is simulated by the co-simulation of Adams and Matlab/Simulink. When the vertical landing velocity is 1.24 m/s and the negative buoyancy (gravity minus buoyancy) is 25 kgf, the robot can fully absorb the impact energy and reach a stable state within 2.09 s. In addition, the simulation results show that the underwater hexapod robot has the ability to achieve fast and smooth landing under complex conditions. This study provides an important support for the deployment of the underwater legged robot's free diving to the seabed without cable in the future.
•An underwater hexapod robot with active buffer landing capability is designed.•The dynamic model is established and the soft landing controller is proposed.•The effectiveness of soft landing controller is verified by co-simulations. |
ArticleNumber | 112764 |
Author | Wang, Long Zhao, Xianchao Gao, Feng Chen, Weixing Lu, Yunfei Zhang, Yongkuang |
Author_xml | – sequence: 1 givenname: Long surname: Wang fullname: Wang, Long organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China – sequence: 2 givenname: Yunfei surname: Lu fullname: Lu, Yunfei organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China – sequence: 3 givenname: Yongkuang orcidid: 0000-0002-1625-0077 surname: Zhang fullname: Zhang, Yongkuang organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China – sequence: 4 givenname: Weixing orcidid: 0000-0003-0772-9825 surname: Chen fullname: Chen, Weixing email: wxchen@sjtu.edu.cn organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China – sequence: 5 givenname: Xianchao surname: Zhao fullname: Zhao, Xianchao organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China – sequence: 6 givenname: Feng surname: Gao fullname: Gao, Feng organization: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China |
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Cites_doi | 10.1016/j.mechmachtheory.2008.08.010 10.1088/1748-3190/ac45e6 10.1016/j.oceaneng.2016.11.006 10.1126/scirobotics.aaz1012 10.1016/S0029-8018(02)00041-0 10.1080/01691864.2013.856832 10.1016/j.oceaneng.2016.02.028 10.1007/s00338-018-1700-3 10.1002/fee.2088 10.1177/0278364915578839 10.1177/0278364914532150 10.1016/j.oceaneng.2021.109448 10.1177/0954406221999422 10.1016/j.oceaneng.2013.01.001 10.1080/01691864.2018.1461684 10.1007/s12206-012-0810-2 10.1126/scirobotics.aar3449 10.1016/j.mechatronics.2018.09.006 |
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Title | Design and soft-landing control of underwater legged robot for active buffer landing on seabed |
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