Skip to main content
SpringerLink
Log in

Underwater Walking Mechanism of Underwater Amphibious Robot Using Hinged Multi-modal Paddle

  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This study proposes an underwater walking mechanism for an underwater amphibious robot that is propelled by a degree of freedom flapping foil system. To implement stable walking in water, we proposed a distinctive hinged multi-modal paddle and developed an underwater amphibious robot. For the proposed paddle, forward walking model is proposed regarding both the ground contact and hydrodynamic forces in each walking phase: the stance and swing phases. Then, we generalized dynamic equations of motion for the amphibious robot based on the forward walking model. The proposed mechanism and robot were evaluated through thrust and forward walking tests in an indoor water tank. The results of the forward walking test exhibited a highly accurate trajectory of legged locomotion compared to the model-based simulation results. Moreover, field tests on gravel and soft terrains of a seabed, revealed that the proposed system allowed the amphibious robot to walk qualitatively.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. J. Pyo, H. Cho, H. Joe, T. Ura, and S.-C. Yu, “Development of hovering type AUV “cyclops” and its performance evaluation using image mosaicing,” Ocean Engineering, vol. 109, pp. 517–530, 2015.

    Article  Google Scholar 

  2. S. Hong and J. Kim, “Three-dimensional visual mapping of underwater ship hull surface using piecewise-planar slam,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 564–574, 2020.

    Article  Google Scholar 

  3. H. Joe, J. Kim, and S.-C. Yu, “3D reconstruction using two sonar devices in a Monte-Carlo approach for AUV application,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 587–596, 2020.

    Article  Google Scholar 

  4. Y. Cho, H. Jang, R. Malav, G. Pandey, and A. Kim, “Underwater image dehazing via unpaired image-to-image translation,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 605–614, 2020.

    Article  Google Scholar 

  5. M. Sung, J. Kim, M. Lee, B. Kim, T. Kim, J. Kim, and S.-C. Yu, “Realistic sonar image simulation using deep learning for underwater object detection,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 523–534, 2020.

    Article  Google Scholar 

  6. T. Maki, H. Horimoto, T. Ishihara, and K. Kofuji, “Tracking a sea turtle by an AUV with a multibeam imaging sonar: Toward robotic observation of marine life,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 597–604, 2020.

    Article  Google Scholar 

  7. A. J. Rashidi, B. Karimi, and A. Khodaparast, “A constrained predictive controller for AUV and computational optimization using Laguerre functions in unknown environments,” International Journal of Control, Automation and Systems, pp. 1–15, 2019.

  8. M. A. G. Rangel, A. Manzanilla, A. E. Z. Suarez, F. Muñoz, S. Salazar, and R. Lozano, “Adaptive nonsingular terminal sliding mode control for an unmanned underwater vehicle: Real-time experiments,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 615–628, 2020.

    Article  Google Scholar 

  9. L.-Y. Hao, H. Zhang, W. Yue, and H. Li, “Fault-tolerant compensation control based on sliding mode technique of unmanned marine vehicles subject to unknown persistent ocean disturbances,” International Journal of Control, Automation and Systems, vol. 18, no. 3, pp. 739–752, 2020.

    Article  Google Scholar 

  10. L. Paull, S. Saeedi, M. Seto, and H. Li, “AUV navigation and localization: A review,” IEEE Journal of Oceanic Engineering, vol. 39, no. 1, pp. 131–149, 2013.

    Article  Google Scholar 

  11. B. Kim, J. Kim, H. Cho, J. Kim, and S.-C. Yu, “AUV-based multi-view scanning method for 3D reconstruction of underwater object using forward scan sonar,” IEEE Sensors Journal, vol. 20, no. 3, pp. 1592–1606, 2020.

    Article  Google Scholar 

  12. J.-Y. Kim and B.-H. Jun, “Design of six-legged walking robot, little crabster for underwater walking and operation,” Advanced Robotics, vol. 28, no. 2, pp. 77–89, 2014.

    Article  Google Scholar 

  13. W. Wang, D. Gu, and G. Xie, “Autonomous optimization of swimming gait in a fish robot with multiple onboard sensors,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 49, no. 5, pp. 891–903, 2017.

    Article  Google Scholar 

  14. D. Yun, S. Kim, K.-S. Kim, J. Kyung, and S. Lee, “A novel actuation for a robotic fish using a flexible joint,” International Journal of Control, Automation and Systems, vol. 12, no. 4, pp. 878–885, 2014.

    Article  Google Scholar 

  15. W. Coral, C. Rossi, O. M. Curet, and D. Castro, “Design and assessment of a flexible fish robot actuated by shape memory alloys,” Bioinspiration & biomimetics, vol. 13, no. 5, p. 056009, 2018.

    Article  Google Scholar 

  16. J. Najem, S. A. Sarles, B. Akle, and D. J. Leo, “Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators,” Smart Materials and Structures, vol. 21, no. 9, p. 094026, 2012.

    Article  Google Scholar 

  17. M. Cianchetti, M. Calisti, L. Margheri, M. Kuba, and C. Laschi, “Bioinspired locomotion and grasping in water: the soft eight-arm octopus robot,” Bioinspiration & biomimetics, vol. 10, no. 3, p. 035003, 2015.

    Article  Google Scholar 

  18. M. Calisti, F. Corucci, A. Arienti, and C. Laschi, “Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot,” Bioinspiration & biomimetics, vol. 10, no. 4, p. 046012, 2015.

    Article  Google Scholar 

  19. N. Plamondon and M. Nahon, “A trajectory tracking controller for an underwater hexapod vehicle,” Bioinspiration & Biomimetics, vol. 4, no. 3, p. 036005, 2009.

    Article  Google Scholar 

  20. C. Georgiades, M. Nahon, and M. Buehler, “Simulation of an underwater hexapod robot,” Ocean Engineering, vol. 36, no. 1, pp. 39–47, 2009.

    Article  Google Scholar 

  21. T. Salumäe, A. Chemori, and M. Kruusmaa, “Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, pp. 1321–1327, 2016.

  22. G. Yao, J. Liang, T. Wang, X. Yang, Q. Shen, Y. Zhang, H. Wu, and W. Tian, “Development of a turtle-like underwater vehicle using central pattern generator,” Proc. of IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, pp. 44–49, 2013.

  23. H.-J. Kim, S.-H. Song, and S.-H. Ahn, “A turtle-like swimming robot using a smart soft composite (SSC) structure,” Smart Materials and Structures, vol. 22, no. 1, p. 014007, 2012.

    Article  Google Scholar 

  24. N. Mazouchova, P. B. Umbanhowar, and D. I. Goldman, “Flipper-driven terrestrial locomotion of a sea turtle-inspired robot,” Bioinspiration & biomimetics, vol. 8, no. 2, p. 026007, 2013.

    Article  Google Scholar 

  25. U. Saranli, M. Buehler, and D. E. Koditschek, “RHex: A simple and highly mobile hexapod robot,” The International Journal of Robotics Research, vol. 20, no. 7, pp. 616–631, 2001.

    Article  Google Scholar 

  26. K. C. Galloway, G. C. Haynes, B. D. Ilhan, A. M. Johnson, R. Knopf, G. A. Lynch, B. N. Plotnick, M. White, and D. E. Koditschek, “X-RHex: A highly mobile hexapedal robot for sensorimotor tasks,” University of Pennylvania, 2010.

  27. C. Barbalata, M. W. Dunnigan, and Y. Petillot, “Position/force operational space control for underwater manipulation,” Robotics and Autonomous Systems, vol. 100, pp. 150–159, 2018.

    Article  Google Scholar 

  28. B. B. Dey, S. Manjanna, and G. Dudek, “Ninja legs: Amphibious one degree of freedom robotic legs,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 5622–5628, 2013.

  29. A. J. Healey, S. Rock, S. Cody, D. Miles, and J. Brown, “Toward an improved understanding of thruster dynamics for underwater vehicles,” Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV’94), IEEE, pp. 340–352, 1995.

  30. P. Gidoni and A. DeSimone, “Stasis domains and slip surfaces in the locomotion of a bio-inspired two-segment crawler,” Meccanica, vol. 52, no. 3, pp. 587–601, 2017.

    Article  MathSciNet  Google Scholar 

  31. S. Kajita, K. Kaneko, K. Harada, F. Kanehiro, K. Fujiwara, and H. Hirukawa, “Biped walking on a low friction floor,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 4, IEEE, pp. 3546–3552, 2004.

  32. T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, 2011.

  33. D. Grzelczyk, B. Stanczyk, and J. Awrejcewicz, “Kinematics, dynamics and power consumption analysis of the hexapod robot during walking with tripod gait,” International Journal of Structural Stability and Dynamics, vol. 17, no. 05, p. 1740010, 2017.

    Article  Google Scholar 

  34. S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez, “Automatic generation and detection of highly reliable fiducial markers under occlusion,” Pattern Recognition, vol. 47, no. 6, pp. 2280–2292, 2014.

    Article  Google Scholar 

  35. D. B. dos Santos Cesar, C. Gaudig, M. Fritsche, M. A. dos Reis, and F. Kirchner, “An evaluation of artificial fiducial markers in underwater environments,” Proc. of OCEANS 2015-Genova, IEEE, pp. 1–6, 2015.

Download references

Author information

Authors and Affiliations

  1. Department of Creative IT Engineering, Pohang University of Science and Technology (POSTECH), 77, Cheongam-ro, Nam-gu, Pohang-si, Gyeongsangbuk-do, 37673, Korea

    Taesik Kim, Young-woon Song, Seokyong Song & Son-Cheol Yu

Authors
  1. Taesik Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Young-woon Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Seokyong Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Son-Cheol Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Son-Cheol Yu.

Additional information

Recommended by Editor-in-chief Keum-Shik Hong.

This research was a part of the project titled’ Gyeongbuk Sea Grant’, funded by the Ministry of Oceans and Fisheries, Korea.

Taesik Kim received his B.E. degree in mechanical engineering from the Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea. He is currently pursuing a Ph.D. degree with the Department of Creative IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, Korea. His research interests include field robotics, biomimetics, and manipulation system.

Young-woon Song received his B.E. degree in Creative IT Engineering from the Pohang University of Science and Technology (POSTECH), Pohang, Korea. He is currently pursuing a Ph.D. degree with the Department of Creative IT Engineering. His research interests include autonomous underwater vehicle and field robotics.

Seokyong Song received his B.E. degree in Creative IT Engineering from the Pohang University of Science and Technology (POSTECH), Pohang, Korea. He is currently pursuing a Ph.D. degree with the Department of Creative IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, Korea. His research interests include underwater robotics, control, and manipulation system.

Son-Cheol Yu received his M.E. and Ph.D. degrees from the Department of Ocean and Environmental Engineering, University of Tokyo, in 2000 and 2003, respectively. He is an Associate Professor of the Department of Creative IT Engineering, Electrical Engineering, and Advanced Nuclear Engineering with the Pohang University of Science and Technology (POSTECH), Korea. He is also the Director of Hazardous and Extreme Environment Robotics (HERO) Lab, IEEE Ocean Engineering Society Korea Chapter, Gyeongbuk Sea Grant Center. He has been a Researcher of mechanical engineering with the University of Hawaii from 2004 to 2007 and an Assistant Professor of mechanical engineering with the Pusan National University from 2008 to 2009. His research interests are autonomous underwater Vehicles, underwater sensing, and multi-agent-based robotics.

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kim, T., Song, Yw., Song, S. et al. Underwater Walking Mechanism of Underwater Amphibious Robot Using Hinged Multi-modal Paddle. Int. J. Control Autom. Syst. 19, 1691–1702 (2021). https://doi.org/10.1007/s12555-020-0371-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-020-0371-3

Keywords

Search

Navigation