Dynamic Tumble Stability Analysis of Seabed Walking Robot in Forward Incident Currents

전방 입사조류에 대한 해저보행로봇의 동적 전복안정성 해석

  • Jun, Bong-Huan (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine) ;
  • Shim, Hyungwon (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine) ;
  • Yoo, Seongyeol (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine)
  • 전봉환 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실) ;
  • 심형원 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실) ;
  • 유승열 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실)
  • Received : 2014.08.12
  • Accepted : 2015.06.17
  • Published : 2015.08.01


In this paper, we describe the dynamic tumble-stability analysis of a seabed-walking robot named Crabster (CR200) in forward-incident currents. CR200 is designed to be operated in tidal-current conditions, and its body shape is also designed to minimize hydrodynamic resistances considering hydrodynamics. To analyze its tumble stability, we adopt the dynamic stability margin of a ground-legged robot and modify the definition of the margin to consider tidal-current effects. To analyze its dynamic tumble stability, we use the estimated hydrodynamic forces that act on the robot in various tidal-current conditions, and analyze the dynamic tumble-stability margin of the robot using the estimated results obtained for the various tidal-current conditions. From the analyses, we confirm the improved tumble stability of the robot according to the movement of the tumble axis caused by the supporting points of the legs.


Crabster;Hydrodynamic Force;Stability Analysis;Tidal Current Environment;Seabed Walking Robot


Grant : 다관절 복합이동 해저로봇 개발

Supported by : 해양수산부


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