发表机构
Norwegian University of Science and Technology（挪威科技大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文设计并验证了一种可复现的水下四足机器人，通过简化模型和基于SO(3)的闭环姿态控制器，实现了滚转、俯仰和偏航的姿态跟踪。
AI 中文摘要
腿式机器人在陆地上用途广泛，但在水下环境中的应用仍然有限。将四足运动扩展到水中可实现两栖机动性，适用于检查、环境监测和灾难响应。本文介绍了一种可复现的水下四足机器人的设计、建模和实验验证。该机器人基于定制的防水电机外壳构建，这些外壳由聚甲醛塑料加工而成，使用现成的O型圈和动态轴密封。推导了一个简化模型来描述该水下腿式系统的动力学，捕捉球形末端执行器上的阻力如何将扭矩传递到浮动基座。基于该模型，利用定义在特殊正交群SO(3)上的误差公式开发了闭环姿态控制器。该控制器在仿真和水箱实验中均进行了评估，实验中机器人跟踪滚转、俯仰和偏航方向的目标姿态设定点。
英文摘要
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a reproducible underwater quadruped robot. The robot is built around custom waterproof motor housings machined from polyoxymethylene plastic, which use off-the-shelf O-rings and dynamic shaft seals. A simplified model is derived to describe the dynamics of this underwater legged system, capturing how drag forces on spherical end effectors transmit torque to the floating base. Building on this model, a closed-loop attitude controller is developed using an error formulation defined on the special orthogonal group SO(3). The controller is evaluated both in simulation and experimentally in a water tank, where the robot tracks desired orientation setpoints in roll, pitch and yaw.
Comments16 pages, 8 figures. Accepted to ISRR 2026
