Posture and Walking Control Method of CR200 for Precise Underwater Exploration

Authors
Hyungwon Shom, Seongyeol Yoo, Gyeong-Mok Lee, Hyuk Baek, Bong-Huan Hun

수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea

Abstract - This paper presints the posture and walking control method of CRABSTER200(CR200), 200 meter-class 6-legged seabed walking robot, for precise underwater exploration in a low visibility environment. CR200 has various accuracy of the equipments, the kinematic body posture change and walking algorithm has been developed. The body posure control method is established through a coordinates transformation technique to generate the redundancy of underwater equipments(acoustic camera, high resolution scanning sonar). For high stability of walking and exploration, a 5 point supported gait method is applied to the walking algorithm. These methods create the joint paths of each leg for the desired body posture and foot position. This paper shows the simulation and experimental result of the posture and walking contrl of CR200. Also, to verify the effectiveness of porposed method, sonar images obtained through a sea trial are depicted according to differential body posture.

(Pressed in Korean)