|Table of Contents|

 Jianting Si and Chengsiong Chin.An Adaptable Walking-skid for Seabed ROV under Strong Current Disturbance[J].Journal of Marine Science and Application,2014,(3):305-314.[doi:10.1007/s11804-014-1261-y]
Click and Copy

An Adaptable Walking-skid for Seabed ROV under Strong Current Disturbance


An Adaptable Walking-skid for Seabed ROV under Strong Current Disturbance
Jianting Si and Chengsiong Chin
Jianting Si and Chengsiong Chin
School of Marine Science and Technology,Newcastle University, Newcastle upon Tyne, NE1 7RU, United Kingdom
ROVhexapod multi-legged skid seabed tidal current
This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition (from 0.5 m/s to 5.0 m/s). A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.


Christina G, Meyer N, Martin B (2009). Simulation of an underwater hexapod robot. Ocean Engineering,36, 39-47.
Chin C, Lau M, Low E (2011). Supervisory cascaded controllers design: experiment test on a remotely-operated vehicle. Proceedings of the IMechE Part C: Journal of Mechanical Engineering Science, 225(3), 584-603.
Corradini ML, Monteriu? A, Orlando G (2011). An actuator failure tolerant control scheme for an underwater remotely operated vehicle. IEEE Transactions on Control Systems Technology, 19(5), 1036-1046.
Crespi A, Badertscher A, Guignard A, Ijspeert AJ (2005). AmphiBot I: an amphibious snake-like robot.Robotics and Autonomous Systems, 50, 163-175.
Eng YH, Lau WS, Low E, Seet GL, Chin CS (2008). Estimation of the hydrodynamic coefficients of an ROV using free decay pendulum motion. Engineering Letters, 16(3), 326-331.
Herzog K, Schulte E, Atmanand MA, Schwarz W (2007). Slip control system for a deep-sea mining machine. IEEE Transactions on Automation Science and Engineering, 4, 282-286.
Inoue T, Shiosawa T, Takagi K (2013). Dynamic analysis of motion of crawler-type remotely operated vehicles. IEEE Journal of Oceanic Engineering, 38(2), 375-382.
Jun BH, Lee PM, Baek H, Lim YK (2011). Approximated modeling of hydrodynamic forces acting on legs of underwater walking robot. IEEE OCEANS 2011, Spain, 1- 6.
JunBH, ShimH, ParkJY, KimB, LeePM (2011). A new concept and technologies of multi-legged underwater robot for high tidal current environment. IEEE Symposium on Underwater Technology (UT) and Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC), Tokyo, Japan, 475-479.
Jun BH, Shim H, Kim B, Park JY, Baek H, Lee PM, Kim WJ, Park YS (2012). Preliminary design of the multi-legged underwater walking robot CR200. OCEANS 2012, Yeosu, South Korea, 1-4.
Martinez MM (2001). Running in the surf: hydrodynamics of the shore crab Grapsus tenuicrustatus. Journal of Experimental Biology, 204, 3097-3112.
Maude SH, Williams DD (1983). Behavior of crayfish in water currents: hydrodynamics of eight species with reference to their distribution patterns in southern Ontario.Canadian Journal of Fisheries and Aquatic Sciences, 40, 68-77.
McIsaac KA, Ostrowski JP (2003). Motion planning for anguilliform locomotion. IEEE Transactions on Robotics and Automation, 19(4), 637-652.
Nowak BM, Whitney T, Ackley SF (2008). Analysis of ROV video imagery for krill identification and counting under Antarctic sea ice. IEEE/OES Autonomous Underwater Vehicles, 1-9.
Rife JH, Rock SM (2006). design and validation of a robotic control law for observation of deep-ocean Jellyfish. IEEE Transactions on Robotics, 22(2), 282-291.
Sfakiotakis M, Lane, DM, Davies JBC (1999). Review of fish swimming modes for aquatic locomotion. IEEE Journal of Oceanic Engineering, 24, 2, 237-252.
Shim H, Jun BH, Kang H, Yoo S, Lee GM, Lee PM (2013). Development of underwater robotic arm and leg for seabed robot, CRABSTER200. MTS/IEEE OCEANS, Bergen, Norway, 1-6.
Tanaka T, Sakai H, Akizono J (2004). Design concept of a prototype amphibious walking robot for automated shore-line survey work. MTS/IEEE Techno-Ocean ’04, 834-839.
Theberge M, Dudek G (2006).Gone swimmin’[seagoing robots].IEEE Spectrum, 43(6), 38-43.
Tsusaka Y, Ishidera H, Itoh Y (1986). MURS-300 MK II: a remote inspection system for underwater facilities of hydraulic power plants. IEEE Journal of Oceanic Engineering,11(3), 358-363.
Waldmann C, Bergenthal M(2010). CMOVE-a versatile underwater vehicle for seafloor studies.OCEANS 2010, Seattle, USA, 1-3.
Yu JC, Tang YG, Zhang XQ, Liu CJ (2010). Design of a wheel-propeller-leg integrated amphibious robot.11th International Conference on Control Automation Robotics & Vision (ICARCV), 1815-1819.
Yu S, Ma S, Li B, Wang Y (2011). An amphibious snake-like robot with terrestrial and aquatic gaits. IEEE International Conference on Robotics and Automation (ICRA), 2960-2961.
Zhu WH (2005). On adaptive synchronization control of coordinated multirobots with flexible/rigid constraints.IEEE Transactions on Robotics, 21(3), 520-525.
Zuo Z, Wang Z, Li B, Ma S (2009). Serpentine locomotion of a snake-like robot in water environment. IEEE International Conference on Robotics and Biomimetics, 25-30.


Suuported by Newcastle University in United Kingdom (Project account number:C0570D2330).
Last Update: 2014-10-16