A Study on Real-time Analysis of Multi-body Dynamics for Underwater Walking Robot Considering Deformable Seabed

This paper investigates the real-time dynamic simulation of a hexapod robot (CRABSTER) operating in extreme environments, particularly underwater soft soil. To enable efficient analysis of the multi-degree-of-freedom system, the Recursive Subsystem Synthesis Method (RSSM) based on joint coordinates is employed and implemented using C++ with OpenMP parallelization. A seabed interaction model incorporating Bekker and JH theories is integrated to simulate soft soil conditions. The framework is evaluated in terms of, real-time performance and computational load under varying walking speed and soil-dependent sinkage levels, demonstrating its effectiveness for dynamic analysis in challenging environments.