Development of a Biomimetic Underwater Robot for Bottom Inspection of Marine Structures

Underwater inspection of marine structures is important to ensure the safety and integrity of infrastructure; however, stable exploration using conventional underwater robots is limited because of various factors such as biofouling and currents. This study focuses on inspecting the surface under a m...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control, automation, and systems automation, and systems, 2023-12, Vol.21 (12), p.4041-4056
Main Authors: Song, Seokyong, Kim, Juhwan, Kim, Taesik, Song, Young-woon, Yu, Son-Cheol
Format: Article
Language:English
Subjects:
Attitude stability
Barriers
Biofouling
Biomimetics
Control
Design parameters
Dynamic models
Dynamic stability
Engineering
Feasibility
Mechatronics
Regular Papers
Robot dynamics
Robotics
Underwater inspection
Underwater robots
Underwater structures
Walking
Water tanks
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Underwater inspection of marine structures is important to ensure the safety and integrity of infrastructure; however, stable exploration using conventional underwater robots is limited because of various factors such as biofouling and currents. This study focuses on inspecting the surface under a marine structure. To inspect the surfaces covered with biofouling, a biomimetic underwater robot for inspection of marine structures (BRIM) with swimming, walking, and obstacle-negotiation capabilities was developed. The design parameters for walking on uneven terrain were adjusted, and a gait was developed to push aside obstacles that obstruct the view. Simulations of the dynamic models were implemented and stability measures of walking with various attitudes were computed to verify the proposed method. The feasibility of the robot in real-life scenarios was verified by performing unit and feasibility tests inside a water tank, demonstrating the effectiveness of the proposed system.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-023-0250-9