Methods to Resist Water Current Disturbances for Underwater Walking Robots

摘要

Abstract Underwater robots play an increasingly significant role in helping humans explore or accomplish various tasks in the underwater environment. Underwater walking robots are members of a large group of underwater robots. With the support of multiple legs, underwater walking robots can walk continuously on underwater ground and have good capability to resist water current disturbances. These robots are qualified to perform the tasks that autonomous underwater vehicles and remotely operated vehicles are unable to or cannot efficiently accomplish, particularly exploration, observation, detection, and operation on underwater ground. This paper provides a brief introduction to the development of underwater walking robots and the methods to address water current disturbances acting on underwater walking robots in underwater environments. This study also presents future directions in the methods to resist water current disturbances for underwater walking robots.