Bio-Inspired Locomotion for Underwater Exploration and Investigation

Abstract

We present ideas on using bio-inspired locomotion concepts for robotic underwater applications. The technology of land-based bio-inspired walking robots improved a lot in the last decade; systems like The SCORPION [1], Rhex or DANTE II have proven that high mobility in rough terrain can be achieved. Walking is a locomotion technique which can be found in underwater animals like lobsters, crayfish, or prawn. These animals can be found in the littoral zone of the oceans and rivers, which are a very challenging environment. Crayfish and prawn can live in rough terrain like the slope of a black smoker, too. They are especially able to adapt to irregular ground contours, current, wave action and surge. For example, lobsters can navigate around obstacles such as rocks, crevices and seaweed. Lobsters flourish in the benthic and littoral environments and have developed robust control systems for locomotion, sensing, and searching behavior. These control systems present a proven solution [2, 5, 11]. No artificial wheeled or swimming system is able to navigate as robustly as lobsters or crayfish in such underwater environments. Thus studying the behavior of animals in the littoral zone and using their control principles for robots seems to be a promising way to close this gap. Therefore we analysed past research in this direction, e.g. the ARIEL and the NEU Lobster project and propose new ideas based on our existing systems [1, 3, 15] for a robust underwater walking platform. We present a possible control concept for such an underwater walking system. Furthermore we discuss possible application scenarios like mine detection or environmental monitoring and non-littoral applications like inspection and maintenance of underwater structures and buildings or service for offshore wind energy parks.