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Dynamic Walking of a Legged Robot in Underwater Environments Environments

dc.contributor.authorPortilla, Gerardo
dc.contributor.authorSaltaren, Roque
dc.contributor.authorMontero de Espinosa, Francisco
dc.contributor.authorRodriguez-Barroso, Alejandro
dc.contributor.authorCely, Juan S.
dc.contributor.authorYakrangi, Oz
dc.identifier.citationortilla, G.; Saltarén, R.; Montero de Espinosa, F.; R. Barroso, A.; Cely, J.; Yakrangi, O. Dynamic Walking of a Legged Robot in Underwater Environments. Sensors 2019, 19, 3588.
dc.description.abstractIn this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully
dc.rightsAttribution 4.0 International*
dc.subjectunderwater legged robotes
dc.subjectdynamic walkinges
dc.subjectmechanical sensores
dc.titleDynamic Walking of a Legged Robot in Underwater Environments Environmentses

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Attribution 4.0 InternationalExcept where otherwise noted, this item's license is described as Attribution 4.0 International