Self-control of the underwater walking device with cyclic movers

When carrying out underwater technical works and when introducing new industrial technologies for the development of seabed resources, robotic systems moving along the bottom are used. Existing machines moving along the bottom have, as a rule, a tracked or wheeled mover. At the same time, the rough shape of the seabed and the low bearing capacity of underwater soils significantly limit the capabilities of traditional types of movers in underwater conditions. Walking machines and robots are more suitable for underwater operations, as they can provide higher traction properties and cross-country ability. However, tests of underwater walking devices show that it is difficult to control all legs at the same time, especially when overcoming obstacles. In the paper methods of self-control of the underwater walking device with cyclic movers are discussed. Research was carried out at the base of underwater walking hexapod MAK-I. It is shown that by the nature of self-adaptation of the foot to an unorganized support surface it is possible to obtain some fuzzy information about the external workspace and the current situation. Despite the fact that the information is usually incomplete and ambiguous, it can be used to make correct management decisions in the absence of external control influences.