Research of the walking type of movement in underwater conditions

Underwater robotic systems have an important role in execution of ground works on sea bottom. The practice of underwater technical works sets wide range of tasks, connected with execution of such works at sea bed (cable deployment, mining, alignment of squares on the bottom, archeological works under water, etc.). Exploitation conditions of machines for underwater ground works, which characterized by the soils with low bearing ability and rough terrain, often make traditional types of movers unusable. For underwater conditions walking movers are better, they have higher ground and shape passableness. Also, walking machines have better traction properties. In the paper design and results of investigation of walking type of movement in underwater conditions are discussed. Research was carried out at the base of prototype of walking hexapod MAK-1. The device developed for dynamic analysis, adjustment of control methods and walking mechanism parameters optimization in underwater conditions. During experiments in underwater conditions walking unit performance was checked and influence of walking mover design features on his dynamics, maneuverability, stability, traction characteristics and passableness has been investigated. The conducted research showed that in underwater conditions walking mover can provide better passableness, than tracked and wheeled machines. Also, it was clarified that suggested mover scheme with independent drives of right and left side can provide high maneuverability and turn with radius equal to 0 on weak soils. The results can be used for development of robotic systems for ground underwater technical works and for new industrial technologies of exploration of seabed resources.