Optimal Attitude Determination for the CR200 Underwater Walking Robot
The Crabster CR200 is an underwater walking robot inspired by crabs and lobsters, designed for precise seabed inspection and manipulation. It maintains stability and position on the seafloor, even in strong currents, by adjusting its posture through six legs, each with four degrees of freedom. The k...
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2024-11-01
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| author | Seok Pyo Yoon Sung-Ho Jeong Dong Kyun Kim Seong-yeol Yoo Bong-Huan Jun Jong-Boo Han Hyungwoo Kim Hyung Taek Ahn |
| author_facet | Seok Pyo Yoon Sung-Ho Jeong Dong Kyun Kim Seong-yeol Yoo Bong-Huan Jun Jong-Boo Han Hyungwoo Kim Hyung Taek Ahn |
| author_sort | Seok Pyo Yoon |
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| description | The Crabster CR200 is an underwater walking robot inspired by crabs and lobsters, designed for precise seabed inspection and manipulation. It maintains stability and position on the seafloor, even in strong currents, by adjusting its posture through six legs, each with four degrees of freedom. The key advantage of the CR200 lies in its ability to resist drifting in strong currents by adapting its posture to maintain its position on the seafloor. However, information is still lacking on which specific posture generates the maximum downforce to ensure optimal stability in the presence of currents and the seabed. This study aims to determine the fluid forces acting on the CR200 in various postures using Computational Fluid Dynamics (CFD) and identify the posture that generates the maximum downforce. The posture is defined by two parameters: angle of attack and seafloor clearance, represented by the combination of the robot’s pitch angle and distance to the seabed. By varying these parameters, we identified the posture that produces the greatest downforce. Through a series of analyses, we identified two main fluid dynamic principles affecting the downforce on a robot close to the seabed. First, an optimal pitch angle exists that generates the maximum downward lift on the robot’s body. Secondly, there is an ideal distance from the seabed that produces maximum suction on the bottom surface, thereby creating a strong Venturi effect. Based on these principles, we determined the optimal robot posture to achieve maximum downforce in strong current conditions. The optimal underwater robot posture identified in this study could be applied to similar robots operating on the seafloor. Furthermore, the methodology adopted in this study for determining the optimal posture can serve as a reference for establishing operational postures for similar underwater robots. |
| format | Article |
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| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
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| series | Applied Sciences |
| spelling | doaj-art-cdd95817f137437aa3a0f38f300d4fc42024-12-13T16:22:35ZengMDPI AGApplied Sciences2076-34172024-11-0114231102710.3390/app142311027Optimal Attitude Determination for the CR200 Underwater Walking RobotSeok Pyo Yoon0Sung-Ho Jeong1Dong Kyun Kim2Seong-yeol Yoo3Bong-Huan Jun4Jong-Boo Han5Hyungwoo Kim6Hyung Taek Ahn7School of Naval Architecture & Ocean Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaSchool of Naval Architecture & Ocean Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaSchool of Naval Architecture & Ocean Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaDepartment of Robot Engineering, Keimyung University, Daegu 42601, Republic of KoreaThe Ocean System Engineering Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon 34103, Republic of KoreaThe Ocean System Engineering Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon 34103, Republic of KoreaThe Ocean System Engineering Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon 34103, Republic of KoreaSchool of Naval Architecture & Ocean Engineering, University of Ulsan, Ulsan 44610, Republic of KoreaThe Crabster CR200 is an underwater walking robot inspired by crabs and lobsters, designed for precise seabed inspection and manipulation. It maintains stability and position on the seafloor, even in strong currents, by adjusting its posture through six legs, each with four degrees of freedom. The key advantage of the CR200 lies in its ability to resist drifting in strong currents by adapting its posture to maintain its position on the seafloor. However, information is still lacking on which specific posture generates the maximum downforce to ensure optimal stability in the presence of currents and the seabed. This study aims to determine the fluid forces acting on the CR200 in various postures using Computational Fluid Dynamics (CFD) and identify the posture that generates the maximum downforce. The posture is defined by two parameters: angle of attack and seafloor clearance, represented by the combination of the robot’s pitch angle and distance to the seabed. By varying these parameters, we identified the posture that produces the greatest downforce. Through a series of analyses, we identified two main fluid dynamic principles affecting the downforce on a robot close to the seabed. First, an optimal pitch angle exists that generates the maximum downward lift on the robot’s body. Secondly, there is an ideal distance from the seabed that produces maximum suction on the bottom surface, thereby creating a strong Venturi effect. Based on these principles, we determined the optimal robot posture to achieve maximum downforce in strong current conditions. The optimal underwater robot posture identified in this study could be applied to similar robots operating on the seafloor. Furthermore, the methodology adopted in this study for determining the optimal posture can serve as a reference for establishing operational postures for similar underwater robots.https://www.mdpi.com/2076-3417/14/23/11027CrabsterCR200underwater walking robotcomputational fluid dynamicsoptimal attitudedownforce |
| spellingShingle | Seok Pyo Yoon Sung-Ho Jeong Dong Kyun Kim Seong-yeol Yoo Bong-Huan Jun Jong-Boo Han Hyungwoo Kim Hyung Taek Ahn Optimal Attitude Determination for the CR200 Underwater Walking Robot Applied Sciences Crabster CR200 underwater walking robot computational fluid dynamics optimal attitude downforce |
| title | Optimal Attitude Determination for the CR200 Underwater Walking Robot |
| title_full | Optimal Attitude Determination for the CR200 Underwater Walking Robot |
| title_fullStr | Optimal Attitude Determination for the CR200 Underwater Walking Robot |
| title_full_unstemmed | Optimal Attitude Determination for the CR200 Underwater Walking Robot |
| title_short | Optimal Attitude Determination for the CR200 Underwater Walking Robot |
| title_sort | optimal attitude determination for the cr200 underwater walking robot |
| topic | Crabster CR200 underwater walking robot computational fluid dynamics optimal attitude downforce |
| url | https://www.mdpi.com/2076-3417/14/23/11027 |
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