A dynamic model of an underwater quadruped walking robot using Kane’s method

In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane＇s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.