Dynamic Locomotion of Underwater Quadruped Robots Based on Whole-Body-Control Method

Unmanned Underwater Vehicles (UUVs) can operate without a human occupant and have widely application. However, there are still limitations in locomotion and manipulation on the seabed, which inspired to developed underwater legged robots. The major challenge of underwater legged robot is robust locomotion gait control under water disturbance environment., in this paper we present a whole-body-control based control strategy of underwater quadruped robots to realize dynamic gaits, which can incorporate both body posture stabilization and dynamic gait execution. Simulation results show that the robot can track velocity commands accurately and maintain body posture stability.