A multi-limbed underwater robot and its gait study

In surf zones, it is quite difficult for traditional propeller-driven vehicles to operate and realize tasks. In this respect, a multi-limbed robot has significant potential. In order to resist the strong wave flow and difficult terrain, stability and mobility should be considered first in a prototype design. In this paper, an improved five-limbed robot prototype is introduced and analyzed for underwater-walking. The study emphasizes gait planning, stability and prototype design.