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Image SILVER (Seabed-Interaction Legged Vehicle for Exploration and Research)

SILVER (Seabed-Interaction Legged Vehicle for Exploration and Research)

SILVER is a four-legged underwater vehicle. Each leg is based on a crank-slider mechanism with a serial spring, and two rotational joints at the hip (3 DoF each leg). Twelve Dynamixel AX-12a smart servomotors are connected in daisy chain, and powered by a LiPo battery for an average autonomy of 2 hours. The structure in PVC can hold sensors such as cameras, laser scan, salinity, pressure and temperature sensors, etc., or it can mount robotic arms or grippers. Matlab controllers, running on an external (out of water) laptop, enable SILVER with hopping, walking and crawling gaits.The self-stabilizing gaits, the reduced disturbances induced on sand during locomotion, and the peculiar underwater capability grants to the robot unique features for the investigation of seabed or for the study of legged locomotion in reduced gravity environment.

Key features:
  • Standing capability: precise station keeping with low energy consumption
  • Reduced disturbance: precise positioning of the feet when required, and no sand displaced
  • Agile locomotion: capable of diverse gaits, including self-stabilizing gait
  • Light weight and small: easy to deploy from small boat or inside swimming pools
  • RS-232 (over USB) and Bluetooth communication
Possible applications:
  • SILVER as a platform: the robot could be used to test novel control algorithms or to change essential components (change and test novel legs design, add buoyancy systems, etc). As examples: investigate difference between terrestrial and underwater legged locomotion, evalute novel design of the legs for paddle like swimming, implement novel gaits and/or navigation algorithms
  • SILVER as a tool: the robot could be employed to perform underwater mission (related to biologic, sea monitoring, photography, etc.). As examples: sample sediments through a novel manipulator
  • Visual inspection of underwater structures
  • Tri-dimensional reconstraction of sea-life (fishes, corals, etc.)

Technical specifications

Low Level Control:3 Different gaits (Hopping – Walking – Crawling) + Rotational Gaits
System Requirements:Works on a laptop through Matlab (Custom user interface)
Communication:TTL
Propulsion:4 Legs (3 DOF each leg)
Actuators:12 AX-12a Dynamixel Smart Servomotors
Nominal Runtime:3 to 4 hrs under normal operation
Depth Rating:50 m [tested up to 15m]
Battery:11.5V 2.2A LiPo
Weight:3.40 kg [ballasted for freshwater], 3.485 kg [ballasted for seawater]
Dimensions:410 mm X 205 mm X 86 mm
Available Lengths:20 m
Buoyancy:Customizable, but slightly negative in seawater
Sensors:Camera for video recording

Access information

Corresponding infrastructureSchool of Advanced Studies Sant'Anna
The BioRobotics Institute
LocationViale Rinaldo Piaggio, 34 56025 Pontedera PI, Italy
Unit of accessWorking day

Additional information

One video of the robot is available here.For further information, contact: m.calisti@santannapisa.it

TERRINet OFFICIAL STATEMENT

Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

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TERRINet team