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Periodic gait plans for locomotion on natural terrain by a submersible walking dredger/miner


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Sarkar, S, Bose, N and Sarkar, M 2007 , 'Periodic gait plans for locomotion on natural terrain by a submersible walking dredger/miner', paper presented at the MTS/IEEE Oceans 2007, 29 Sep - 4 Oct 2007, Vancouver.

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Use of surface floating dredgers in deep inland
reservoirs and continental shelves, either for dredging or
mining is restricted by several operational limitations and
mobilization problems. Ladder length is a major
constraint and in the absence of good approach roads,
transportation of bigger surface floating dredgers to
inland areas is difficult. In shelf areas, dredging operation
is less precise due to currents, waves and winds. Use of
small, modular comparatively less expensive submersible
dredgers/ miners is a suitable solution to some of the
above-mentioned problems. A collaborative research
project between Memorial University of Newfoundland,
Canada and Excavation & Equipment Manufacturing (P)
Ltd., India was set up to develop, design, build and test a
small prototype of a modular walking submersible dredger
suitable for deep inland reservoirs. The full-scale electrohydraulically
operated prototype was remotely operated
on land for all the full-scale prototype tests. This paper
describes the theoretical gait plans developed for the
designed vehicle to perform straight line and curvilinear
locomotion on natural terrain. Representative results
showing the comparisons between the theoretical and
experimental results for the gait plans are presented.

Item Type: Conference or Workshop Item (Paper)
Authors/Creators:Sarkar, S and Bose, N and Sarkar, M
Keywords: underwater vehicle, underwater mining, dredging, walking vehicle, gait, underwater dredging, cutter suction dredger
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