A Mechanical Leg Compliant Control Scheme for Underwater Crawling-Swimming Robot.

In this paper, the mechanical leg compliant control of a new type of the underwater crawling-swimming robot is studied. According to the strong coupling and uncertainty of the mechanical leg and the uneven seabed, a compliant control scheme consisting of linear active disturbance rejection control based on the nominal model and impedance control based on the position is designed. The uneven seabed environment is built in MATLAB-ADAMS to verify the proposed control scheme. The simulation results show that the compliant control scheme proposed in this paper has obtained good performance on smooth and safe crawling.