水下步行机器人通过多条腿支撑在海底连续行走，在具有海流的海底环境中拥有独特优势。水下步行机器人在海底探测、观测、检测和作业中可以完成AUV、ROV所不能完成或者不能有效完成的任务。本项目以海流环境中基于稳定性的水下步行机器人位姿规划与控制作为研究切入点，首先，对海流环境中水下步行机器人稳定性进行分析，提出一种适于海流环境的水下步行机器人稳定性判据理论。其次，基于稳定性判据理论，探明海流、水下步行机器人位姿对水下步行机器人稳定性的作用机理。然后，根据多传感器融合技术对海底环境进行综合分析，基于稳定性提出一种适于海流环境的水下步行机器人位姿规划策略。最后，建立一种具有强鲁棒性的适于海流环境的水下步行机器人位姿闭环控制方法。本项目将促进水下步行机器人的研究，有效拓展人类探索海洋的空间并提升人类认知海洋的能力。

Underwater walking robots have unique advantages in the seafloor environment with current, because underwater walking robots can walk continuously on the seafloor with multiple legs supporting. Underwater walking robots are qualified for the task that the AUV and ROV are not able or efficient to complete, especially in the exploration, observation, detection and operation on the seafloor. The project takes position-posture planning and control principles of the underwater walking robot in the seafloor environment with current based on the stability as the breakthrough point. Firstly, the stability of the underwater walking robot in the seafloor environment with current is analyzed, and a stability criterion for the underwater walking robot is proposed. Secondly, the relationship between the ocean current, position-posture of the underwater walking robot and the stability of the underwater walking robot is studied based on the stability criterion. Thirdly, the seafloor environment will be fully analyzed using the multi-sensor data fusion technique, and a strategy for position-posture planning of the underwater walking robot in the seafloor environment with current is proposed on the basis of the stability. Finally, a position-posture closed-loop control method with strong robustness and well adaptation to the seafloor environment with current is established for the underwater walking robot. The project will promote the research on the underwater walking robot, and effectively expand people’s space to explore the ocean and improve people’s ability to perceive the ocean.