Mechanical Deisgn and Hydrodynaimc Analysis of Underwater Walking Robot for Efficient Locomotion

Abstract

This paper presents the mechanical design and hydrodynamic analysis of a six-legged underwater walking robot developed for efficient mine hunting and retrieval operations in challenging coastal environments. Inspired by the locomotion of ghost crabs, the robot integrates a bio-inspired morphology with both walking and swimming capabilities to ensure robust mobility and stability under strong currents, low visibility, and uneven seabed. The mechanical design emphasizes ground contact through six articulated legs for enhanced posture control, while a hybrid propulsion system enables seamless transition between walking, paddling, and thruster-based swimming modes. Simulation studies validate the effectiveness of various walking gaits and posture control strategies, while Computational Fluid Dynamics (CFD) analysis confirms the robot's streamlined form reduces hydrodynamic drag. The results demonstrate that the robot is well-suited for close-range inspection, object recovery, and navigation in turbulent underwater conditions. This research contributes to the advancement of legged marine robotics by offering a versatile platform for precise seabed interaction and mission adaptability.