An International Joint Research Project on an Autonomous Underwater Walking Robot
McGhee, Robert B.
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This paper describes the objectives, organizations and research results of an international joint research project on an autonomous underwater walking robot conducted at the Naval Postgraduate School in the US and the Port and Harbour Research Institute in Japan. The main purpose of this project has been to investigate several scientific research questions in the US side and to enhance the capability of the existing six-legged underwater walking robot, AQCAUOBOT. Tlw period of this project is three years beginning in February 1992. Almost two dozen researchers have been involved in this project. The research results briefed in this paper include smooth motion planning for rigid body robots, versatile extended gait planning, dynamic foot motion planning: experiments with the real AQUAROBOT linkage dynamics, virtual reality simulation model, and task and mission level control architecture. In order to conduct these subprojeds, there have been frequent and close communications between two countries.
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