Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation

Exploration of the seabed may be complex, and different parameters must be considered for a robotic system to achieve tasks in this environment, such as soil characteristics, seabed gait, and hydrodynamic force in this extreme environment. This paper presents a gait simulation of a quadrupedal robot used on a typical terrigenous sediment seabed, considering the mechanical properties of the type of soil, stiffness, and damping and friction coefficients, referenced with the specialized literature and applied in a computational multibody model with many experimental data in a specific underwater environment to avoi hydrodynamic effects. The requirements of the positions and torque in the robot's active joints are presented in accordance with a 5R mechanism for the leg and the natural pattern shown in the gait of a dog on the ground. These simulation results are helpful for the design of a testbed, with a leg prototype and its respective hardware and software architecture and a subsequent comparison with the real results.