Innovation
Methods, ideas, or system contributions that make the work stand out.
underwater quadruped robot
closed-loop attitude controller
special orthogonal group SO(3)
custom waterproof motor housings
Design and Attitude Control of an Underwater Quadruped Robot
🤖 AI Summary
本文设计并验证了一种可在水下使用的四足机器人，通过定制防水电机壳体和开发基于SO(3)的闭环姿态控制器来解决其在水下的姿态控制问题。
📝 Abstract
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a reproducible underwater quadruped robot. The robot is built around custom waterproof motor housings machined from polyoxymethylene plastic, which use off-the-shelf O-rings and dynamic shaft seals. A simplified model is derived to describe the dynamics of this underwater legged system, capturing how drag forces on spherical end effectors transmit torque to the floating base. Building on this model, a closed-loop attitude controller is developed using an error formulation defined on the special orthogonal group SO(3). The controller is evaluated both in simulation and experimentally in a water tank, where the robot tracks desired orientation setpoints in roll, pitch and yaw.
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2024-09-30arXiv.orgCitations: 2
