Development of the walking mover for underwater walking vehicle

摘要

Purpose of the work is to investigate possibility of practical application of walking machines for seabed movement. In particular, main tasks of investigation: tractional properties, passableness, methods of control. Technical features of walking machine "Vosminog" and underwater walking machine MAK-1, designed for shallow work, are noted in this paper. Advantages of walking machines in underwater conditions are described. Possibilities to improve adaptive characteristics and passableness of vehicle's cyclic walking locomotors are considered. Some of methods for motion control of underwater walking robot under conditions of incomplete and ambiguous understanding of the current situation are tested. Results of research and tests in real conditions of walking robots, which moves on sea bottom, are presented in the paper. It have shown that in underwater conditions walking type of mover for robots by roadhold properties and ground passableness essentially exceed traditional type of mover. Results of work can be demand during development of robotic systems, designed for advanced industrial technology for seabed resources mastering.