Locomotion mechanism for subsea robots using cooperative control technology of propellers and leg

The mobility of subsea robots' locomotion which can efficiently and swiftly land and take off at subsea working locations and stably keep its position and orientation for subsea working is required. We study a practical and mobile subsea locomotion mechanism which makes robots land speedily and softly on the surface of the structure. And this mechanism can maintain a stable position and orientation for the robot working at subsea conditions by moving the robot body in a pendulum-like motion under the cooperative control of the propellers and the leg. We describe the technology of this locomotion mechanism for subsea robots and demonstrate the effect of this mechanism through a simulation study.