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Informational abilities of the foot of underwater walking device during interaction with obstacle

DOI 10.18127/j20700814-201810-11

Keywords:

V.V. Arykantsev - Post-graduate Student, Volgograd State Technical University
E-mail: arvstu@mail.ru
V.E. Pryanichnikov - Dr.Sc.(Eng.), Keldysh Institute of Applied Mathematics (Moscow)
E-mail: v.e.pr@yandex.ru
V.V. Chernyshev - Dr.Sc.(Eng.), Volgograd State Technical University
E-mail: vad.chernyshev@mail.ru


In underwater conditions walking machines have higher traction properties and passability, in compare with traditional vehicles. Control of devices, moved at sea bottom, as a rule, executed on visual information from on-board video sensors. Be-cause of bad visibility under water an operator often has no time to make a decision in case of occurring of an obstacle. Discussed results of investigation of walking mover foot informational abilities during interaction with obstacle. The information has incomplete and ambiguous behavior, but can be used during realization of reflexive motions, executed in emergency case. The results can be demand in development of walking robotic systems, intended for underwater technical works and for new technologies of seabed resources reclamation.

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May 29, 2020

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