Abstract
Autonomous underwater vehicles have been used for investigation in underwater or on a seafloor. For this purpose, a legged walking mechanism is one of the good solutions for the investigation since it is able to maintain stable condition on a seafloor. However, a walking robot has a risk of turning over by ocean current and various terrains. This study proposes a new legged mechanism that keeps stable posture even after turning over. This study also proposes a gait for this legged mechanism. To investigate performances, a prototype machine has been developed. It is shown that the mechanism is able to achieve forward movement under turning over.
