Applying climbing robots for hull cleaning

摘要

Traditionally underwater robotics deals with UAVs and ROVs. This paper discusses a new type of robot for this application - vertical climbing robots. This type of robots has traditionally been considered for terrestrial use. However recent developments have confirmed the effectiveness of using such robots for underwater research. The article describes the work carried out in the Laboratory of robotics and mechatronics of the Ishlinsky Institute for Problems in Mechanics RAS on using climbing robots for technological operations in the aquatic. In particular we discuss issues of creating a robotic system for cleaning ship hulls from fouling. This work was carried out jointly with the St. Petersburg State Marine Technical University.