Feasibility study of underwater walking vehicles

The rapid development in the past twenty years of land walking vehicle technology has raised the curiosity on the study of seabed walking machines. The advantages of using manned or unmanned walking vehicles in seabed applications and subsea engineering are numerous and obvious. Such vehicles allow expanded exploration in hazardous environments. This kind of vehicle can climb steeper grades and drag heavier loads than a dimensionally similar wheeled or tracked vehicle. In the present study, relevant research on developing autonomous seabed walking machines is reviewed. Current technology levels are accessed and apparent technological gaps are identified. From these, the feasibility of underwater walking vehicles is determined. Parametric studies are carried out to relate various applications of the walking vehicle with respect to the size factor, speed, locomotion linkage mechanism, leg configuration, foot design, seabed environment, soil/vehicle interaction, stability, maneuverability, control, load capacity, power output and specific energy consumption. Several promising design concepts are selected for further study.