Dynamic Walking of a Legged Robot in Underwater Environments

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.)...

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Detalles Bibliográficos
Autores principales: Portilla, Gerardo, Saltarén, Roque, Montero de Espinosa, Francisco, R. Barroso, Alejandro, Cely, Juan, Yakrangi, Oz
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6721286/
https://www.ncbi.nlm.nih.gov/pubmed/31426547
http://dx.doi.org/10.3390/s19163588
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author Portilla, Gerardo
Saltarén, Roque
Montero de Espinosa, Francisco
R. Barroso, Alejandro
Cely, Juan
Yakrangi, Oz
author_facet Portilla, Gerardo
Saltarén, Roque
Montero de Espinosa, Francisco
R. Barroso, Alejandro
Cely, Juan
Yakrangi, Oz
author_sort Portilla, Gerardo
collection PubMed
description 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.
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spelling pubmed-67212862019-09-10 Dynamic Walking of a Legged Robot in Underwater Environments Portilla, Gerardo Saltarén, Roque Montero de Espinosa, Francisco R. Barroso, Alejandro Cely, Juan Yakrangi, Oz Sensors (Basel) Article 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. MDPI 2019-08-17 /pmc/articles/PMC6721286/ /pubmed/31426547 http://dx.doi.org/10.3390/s19163588 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Portilla, Gerardo
Saltarén, Roque
Montero de Espinosa, Francisco
R. Barroso, Alejandro
Cely, Juan
Yakrangi, Oz
Dynamic Walking of a Legged Robot in Underwater Environments
title Dynamic Walking of a Legged Robot in Underwater Environments
title_full Dynamic Walking of a Legged Robot in Underwater Environments
title_fullStr Dynamic Walking of a Legged Robot in Underwater Environments
title_full_unstemmed Dynamic Walking of a Legged Robot in Underwater Environments
title_short Dynamic Walking of a Legged Robot in Underwater Environments
title_sort dynamic walking of a legged robot in underwater environments
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6721286/
https://www.ncbi.nlm.nih.gov/pubmed/31426547
http://dx.doi.org/10.3390/s19163588
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