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In this paper, we describe a design method for the static walking and swimming algorithms of a subsea hexapod robot called Crabster (CR200). CR200 is a 200-m-class seabed walking and flying robot that is specialized in environments with high current and turbid water. To design the algorithms of a hexapod robot, we propose a design method that uses a schedule vector and a paired leg index vector to secure convenience and expandability. By changing the combination of the indexed schedule vector, we can design the locomotion algorithms for the walking and swimming functions of CR200. We use common parameters to simplify the algorithms and to facilitate ease of transition between algorithms. Using the index vector design method, walking and swimming algorithms are designed that can be applied to CR200 according to the underwater environment and explorative conditions. In this paper, we designed six types of gait algorithms and four types of swimming algorithms. The algorithms designed, using the proposed method, are simulated using MATLAB and validated through the experiments. |
