Dynamic Walking of a Legged Robot in Underwater Environments

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.


Title: Dynamic Walking of a Legged Robot in Underwater Environments
  • Portilla Tuesta, Gerardo Alejandro
  • Saltaren Pazmiño, Roque Jacinto
  • Montero de Espinosa, Francisco
  • Rodríguez Barroso, Alejandro
  • Cely Gutiérrez, Juan Sebastián
  • Yakrangi, Oz
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 17 August 2019
ISSN: 1424-8220
Volume: 19
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

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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

Government of SpainDPI2014-57220-C2-1-PUnspecifiedUnspecifiedA cable-driven robot for the development of the kinematic and dynamic control of low-gravity robotic systems: application to underwater humanoid robots
Government of SpainPGC2018-095939-B-I00UnspecifiedUnspecifiedUnderwater hybrid legged robot for research on kinematics, dynamics and control during the locomotion on the seabed
Madrid Regional GovernmentS2018/NMT-4331RoboCity2030 DIH-CMUnspecifiedMadrid 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
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