2002 · 13 citations · 0 references
EngineeringMarine EngineeringRobotics EngineeringMarine RoboticsRobot ControlRoboticsLegged Robot ControlLegged RoboticsRobotic InspectionSubsea RoboticsUltrasonicsUnderwater Robot KinematicsLeg DynamicsLeg KinematicsSubsea Control UmbilicalsUltrasonic CommunicationUnderwater InspectionUnderwater Inspection RobotsUnderwater Manipulation
A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed.