In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can adapt to the complex underwater environment. The article uses the transformation matrix to analyze the kinematics of the dredging robot, determines the movement sequence of the outriggers according to the principle of stability, and analyzes the movement characteristics of the three gait modes. Then, we combined the control function of the foot trajectory with the experimental prototype based on the bionic tortoise mechanism to carry out a walking experiment. During the experiment, the motion stability is good. Additionally, the changes in the position, the posture of the outriggers, and the body prove that the movement stability of the dredging robot using coordinated gait, mixed gait, and intermittent gait has increased sequentially.
A novel theorem on motion stability
