Control System for Underwater Hexapod Robot Based on Inverse Kinematics and Foot Trajectory Optimization

The underwater hexapod robot has a strong load carrying ability and terrain adaptability, which is very suitable for near-earth observation and sampling in complex and changeable seabed environments. The control system is the key technology to realize the stable walking of underwater hexapod robots....

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Bibliographic Details

Published in:	水下无人系统学报
Main Authors:	Gangtai LU, Ke YANG, Hui CHEN
Format:	Article
Language:	Chinese
Published:	Science Press (China) 2025-02-01
Subjects:	underwater hexapod robot control system inverse kinematics foot trajectory optimization
Online Access:	https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0087