Analysis of Station Keeping Performance of an Underwater Legged Robot
Analysis of Station Keeping Performance of an Underwater Legged Robot
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DOI：
10.1109/tmech.2021.3132779
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发表时间：
2022-10-01
影响因子：
6.4
通讯作者：
Calisti, Marcello
中科院分区：
文献类型：
--
作者：
Chellapurath, Mrudul;Walker, Kyle L.;Calisti, Marcello
遥控潜水器（ROV）可以利用与基底的接触来增强其位置保持能力。负浮力水下腿式机器人可以执行被动位置保持，依靠摩擦力来抵消作用在机器人上的干扰。与传统的基于螺旋桨的ROV不同，这种方法具有类似的略高的效率，同时减少了对基底的干扰。以SILVER 2为参考平台，对水下腿式机器人的被动位置保持性能进行了详细的分析，研究了腿的结构、净重和基底的性质对位置保持性能的影响。建立了机器人位置保持性能的数学模型，研究了机器人几何参数和物理参数对机器人位置保持性能的影响。最后，我们定义了一个称为位置保持效率的指标来评估位置保持性能;水下腿式机器人的位置保持效率（28%）高于商用螺旋桨式ROV（11%），表明它们可以为环境监测等任务提供替代方案。
Remotely operated vehicles (ROVs) can exploit contact with the substrate to enhance their station keeping capabilities. A negatively buoyant underwater legged robot can perform passive station keeping, relying on the frictional force to counteract disturbances acting on the robot. Unlike conventional propeller-based ROVs, this approach has similar, slightly higher efficiency while reducing disturbances to the substrate. Detailed analysis on the passive station keeping performance of an underwater legged robot was performed using Seabed Interaction Legged Vehicle for Exploration and Research 2 (SILVER2) as a reference platform, investigating the effect of leg configuration, net weight, and the nature of the substrate on station keeping performance. A numerical model was developed to study the effect of both geometrical and physical parameters on the station keeping performance, which accurately predicted the station keeping behavior of the robot during field tests. Finally, we defined a metric called station keeping efficiency for the evaluation of station keeping performance; the underwater legged robots showed higher station keeping efficiency (28%) than commercial propeller-based ROVs (11%), showing they could present an alternative for tasks such as environmental monitoring.