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Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives.

Tho Dang¹, Lionel Lapierre¹, Rene Zapata¹

¹Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS-UM), Université Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France.

Sensors (Basel, Switzerland)

|November 27, 2021

Summary

This study introduces a new method for optimizing underwater robot designs by considering multiple performance factors. The goal is to enhance robot capabilities and resource efficiency, especially in challenging environments.

Keywords:

multi-objective optimization over-actuated underwater robots performance indices underwater robots

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Area of Science:

Robotics
Mechanical Engineering
Control Systems

Background:

Conventional underwater robot actuator configurations are limited.
Existing designs do not optimize energy, reactivity, or versatility.
Confined environments pose significant challenges for current robot capabilities.

Purpose of the Study:

To optimize the configuration design of over-actuated underwater robots.
To introduce and analyze performance indices for enhanced robot design.
To improve underwater robot performance in terms of energy, reactivity, and robustness.

Main Methods:

Introduced performance indices: manipulability, energetic, reactive, and robustness.
Formulated and analyzed a multi-objective optimization problem.
Utilized the goal-attainment method to balance diverse objectives without weighting vectors.

Main Results:

A novel solution design procedure for underwater robot configuration was proposed.
Simulations demonstrated the efficiency of the proposed optimization method.
Experimental results validated the effectiveness of the new design approach.

Conclusions:

The proposed method significantly improves underwater robot configuration design.
Optimized designs enhance robot resource utilization and operational capabilities.
The approach is effective for over-actuated systems, particularly in confined spaces.