An open-source control architecture for teleoperated underwater legged robots

Abstract

Legged robots have achieved unprecedented performance in the terrestrial environment. The capability of legged agents to harness the contacts with the ground for locomotion, adapt their gait to negotiate regular terrains, avoid obstacles, and interact gently with the environment are currently unmatched in the underwater domain. This would represent a valuable asset for both scientific and industrial marine applications. Notwithstanding this, the development of Underwater Legged Robots (ULRs) has not progressed at the same pace as their terrestrial counterparts due to the high costs and risks associated with marine field robotics. In this contribution, we will present the control architecture for the teleoperated ULR SILVER2 enabling the core functionalities of locomotion, manipulation, proprioception, and vehicle monitoring. The control architecture design, including software, will be available under a Creative Common license to simplify access to this emerging field and promote the exchange of knowledge between the communities of legged and underwater robotics. The presentation of the control architecture will allow us to focus on the several research opportunities connected with the novel categories of ULRs which span from bio-inspiration and control to field applications. The application of ULRs to marine ecological monitoring in the framework of the Marie Curie Action BluE will be thoroughly discussed as a case study.