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Increasing the efficiency of underwater operations with the help of automatic machines can be achieved by using a robotic complex in a special configuration -with a functional division into three interacting parts: a remote control panel with an operator; a basic underwater walking platform, connected by a cable with the control panel for information and energy supply; a group of autonomous robots with increased maneuverability, having information communication lines with the base station via a contactless channel. Within the framework of this concept, the paper considers and solves the main problems of creating information-control systems for such robotic systems, including the necessary communication tools. One of the key solved problems was constructing the proper sensor-control real-time software system. The paper was partially supported by RFBR, projects 16-

Purpose of the work is to investigate possibility of practical application of walking machines for seabed movement. In particular, main tasks of investigation: tractional properties, passableness, methods of control. Technical features of walking machine "Vosminog" and underwater walking machine MAK-1, designed for shallow work, are noted in this paper. Advantages of walking machines in underwater conditions are described. Possibilities to improve adaptive characteristics and passableness of vehicle's cyclic walking locomotors are considered. Some of methods for motion control of underwater walking robot under conditions of incomplete and ambiguous understanding of the current situation are tested. Results of research and tests in real conditions of walking robots, which moves on sea bottom, are presented in the paper. It have shown that in underwater conditions walking type of mover for robots by roadhold properties and ground passableness essentially exceed traditional type of mover. Results of work can be demand during development of robotic systems, designed for advanced industrial technology for seabed resources mastering.

An important role among machines for sea bottom exploration is assigned to the autonomous ground devices. Some rescue tasks also require subsea robotic devices. The main purpose of the work is to investigate and improve adaptive characteristics, traction properties and control methods of cyclic walking movers in underwater conditions. Traction properties of walking machines, which moves at sea bottom was analyzed. Some experience of development and experimental tests of the walking robot “Vosminog”, designed for work at weak and waterlogged grounds. Dynamic model of a walking machine has been shown. Studied an opportunity to increase adaptive characteristics and shape passableness of walking machines. Also design and results of underwater tests of subsea walking unit MAK-1 are discussed. During tests the performance of a walking unit has been checked and the influence of design features of a walking mover on its traction characteristics and ground passability has been investigated. Some details about control system, power system and energy usage, vertical motions and accelerations for different types of walking and conditions of movement has been given. Also, certain attention was given to testing of methods of standalone movement control of subsea unit in conditions of incomplete and ambiguous vision of current situation. Tests have shown that walking movers in subsea conditions can provide higher traction properties, in comparison with wheeled and tracked ones. The unit can be used for exploration of seabed resources and for rescue tasks.

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