The Development of a New Kind of Underwater Walking Robot

In this paper, to approach a locomotion method for underwater rough surface, we designed a new kind of leg with two segments of ICPF (Ionic Conducting Polymer Film) actuators. And also, we carried out an underwater robot equipped a walk-style leg and two wheels. We have carried out the experiment of the robot. And the result shows that the robot has a good walking performance on rough surface. An improved structure of robot is designed and made out. Without a wheel, it is smaller and speed is higher. A speed model of the robot is carried out. On the other hand, the speed is also measured in experiments.

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