A Novel Underwater Hexapod Robot can be used for Fixed-point Work

This paper introduces a novel underwater hexapod robot NCUUV that integrates crawling and swimming. It can integrate the fixed-point operation capability of traditional ROV with the cruise detection capability of AUV. This paper focuses on a Central Pattern Generator (CPG) control strategy with body posture control, which can be used to control the body pose control of NCUUV while walking underwater. This can not only increase the robot's ability to resist ocean current interference by changing the body posture during walking, but also add additional degrees of freedom to body equipment e.g. cameras and robotic arm. Finally, the effectiveness of the proposed method is verified by simulation and experiments.