Slope terrain locomotion of underwater quadruped robots

Underwater legged robots represent a novel form of underwater robotics, aiming to address limitations in locomotion and manipulation on the seabed. These robots offer several advantages, including enhanced stability and agility in navigating complex underwater environments, as well as improved ability to handle rough terrain and obstacles. The primary challenge faced by underwater quadruped robots is dynamic motion, especially under the influence of restoring torques, which limits their ability to adapt to terrains such as slopes. The complexity of water dynamics and the need for precise control of buoyancy and balance make it difficult for these robots to maintain stability and efficiency in motion when navigating inclined surfaces. This paper introduces a Model Predictive Control (MPC)-based approach that enables underwater quadruped robots to achieve dynamic gaits, posture control, and terrain adaptability in dynamic underwater environments. Simulation outcomes demonstrate the robot's proficiency in precisely following velocity commands while ensuring stability in body posture, additionally highlighting its capability to adapt to sloped terrains.