Mobility and agility analysis of a multi-legged subsea robot system

► We establish a unified method for analysis of mobility and agility of a multi-legged subsea robot. ► Mobility and agility are maximum translational and rotational accelerations of the body center. ► Mathematical framework is verified by the simulations of multi-legged robot with differential condition. ► Mobility and ability will be key indexes to evaluate the dynamic performance of underwater multi-legged robot.