Seabottom roughness measurement by aquatic walking robot

Optimal topological transformation of underwater modular self-reconfigurable robots

“…Example 2: in Example 1, by the MM value (7,8,12,11,6,13,5,3,4,9,10,2,1) between F (1) and F (2) : (1) is equivalent to (1<1>,2<2>) in T (2) , because the connecting facets of the 12th module of F (1) and the 2st module of F (2) are class-I facets, and the connecting facets of the 13th module in F (1) and the 1st module in F (2) are class-I facets too. ᭹ The connection set C (1) (2) , and every connection in C (1) have an equivalent connection in C (2) and vice versa, thus C (1) is equivalent to C (2) .…”

“…They can be used in many complex occasions such as obstructive offshore explorations, inconvenient underwater salvages, intricate oceanic structure inspections etc., where the conventional ROVs/AUVs 1,2 can't work well. Compared with conventional underwater explorations tools, 3 the UMSR robots have the following advantages:…”

A Novel Navigation Algorithm for Hexagonal Hexapod Robot

“…Some researchers (Todd, 1985); believed that the use of hexapod robots would provide a more robust platform for applications, since it can support more weight than bipeds or quadrupeds. Examples of application of hexapod robots include the walking manipulator (Schraft et al, 2000); inspection and construction robots, rosy I and II (IEEE and Fraunhofer, 2008); and aquarobot for underwater operation (Akizono et al, 1997). The gait control problem of a hexapod is an extensively studied subject.…”

Comparison between different model of hexapod robot in fault-tolerant gait

“…Some researchers [3] believed that the use of six-legged robots would provide a more robust platform for applications, since hexapods can support more weights than bipeds or quadrupeds. Examples of application six-legged robots include, the walking manipulator by Plustech Oy [3], inspection and construction robots, Rosy I and II [4], and Aquarobot for underwater operation [5].…”

“…Among these studies, however, nearly all gaits developed are based upon a simplified rectangular two-dimensional (2-D) model which limits the robot design. Although there are several hexapods (Silex [12], Aquarobot [5], Katharina [13], Odex [14] etc.) built in hexagonal architectures, few analytical comparisons on gait properties have been made between rectangular and hexagonal architectures.…”