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Dynamic Walking of a Legged Robot in Underwater Environments
Citation
Portilla Tuesta, Gerardo Alejandro and Saltaren Pazmiño, Roque Jacinto and Montero de Espinosa, Francisco and Rodríguez Barroso, Alejandro and Cely Gutiérrez, Juan Sebastián and Yakrangi, Oz (2019). Dynamic Walking of a Legged Robot in Underwater Environments. "Sensors", v. 19 (n. 16); pp. 3588-3596. ISSN 1424-8220. https://doi.org/10.3390/s19163588.
Description
| Title: | Dynamic Walking of a Legged Robot in Underwater Environments |
|---|---|
| Author/s: |
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| Item Type: | Article |
| Título de Revista/Publicación: | Sensors |
| Date: | 17 August 2019 |
| ISSN: | 1424-8220 |
| Volume: | 19 |
| Subjects: | |
| Freetext Keywords: | underwater legged robot; dynamic walking; mechanical sensor |
| Faculty: | E.T.S.I. Industriales (UPM) |
| Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
| Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
Abstract
In 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 demonstrated.
Funding Projects
| Type | Code | Acronym | Leader | Title |
|---|---|---|---|---|
| Government of Spain | DPI2014-57220-C2-1-P | Unspecified | Unspecified | A cable-driven robot for the development of the kinematic and dynamic control of low-gravity robotic systems: application to underwater humanoid robots |
| Government of Spain | PGC2018-095939-B-I00 | Unspecified | Unspecified | Underwater hybrid legged robot for research on kinematics, dynamics and control during the locomotion on the seabed |
| Madrid Regional Government | S2018/NMT-4331 | RoboCity2030 DIH-CM | Unspecified | Madrid Robotics Digital Innovation Hub |
More information
| Item ID: | 64155 |
|---|---|
| DC Identifier: | https://oa.upm.es/64155/ |
| OAI Identifier: | oai:oa.upm.es:64155 |
| DOI: | 10.3390/s19163588 |
| Official URL: | https://www.mdpi.com/1424-8220/19/16/3588 |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 29 Sep 2020 16:36 |
| Last Modified: | 30 Sep 2020 07:28 |
