Design of Static Gait Algorithm for Hexapod Subsea Walking Robot: Crabster

6 족 해저보행로봇을 위한 정적 보행 알고리즘 설계

  • Yoo, Seong Yeol (Korea Research Institute of Ship and Ocean engineering) ;
  • Jun, Bong Huan (Korea Research Institute of Ship and Ocean engineering) ;
  • Shim, Hyungwon (Korea Research Institute of Ship and Ocean engineering)
  • Received : 2014.05.29
  • Accepted : 2014.07.17
  • Published : 2014.09.01


In this paper, we describe a design method for the static walking algorithm of a subsea hexapod robot called Crabster (CR200). To design the gait algorithms of a hexapod robot, we propose a design method that uses a gait schedule vector and leg pair vector to secure convenience and expandability. Several walking algorithms are designed that are capable of being applied to CR200 according to the underwater environment and explorative conditions. In addition, gait transition is freely performed between algorithms by applying common control parameters to them. The gait algorithms designed using the proposed method are simulated using MATLAB and validated against the results of experiments.


Crasbster;Static Gait;Omni-Directional Gait;Subsea Walking Robot


Grant : 다관절 복합이동 해저로봇 개발

Supported by : 해양수산부


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