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Dynamic Walking of a Legged Robot in Underwater Environments

Universidad Politécnica de Madrid, Escuela Técnica Superior De Ingenieros Industriales, 28006 Madrid, Spain
Centro de Automática y Robótica, 28006 Madrid, Spain
Instituto de Tecnologías Físicas y de la Información “Leonardo Torres Quevedo”, 28006 Madrid, Spain
Author to whom correspondence should be addressed.
Sensors 2019, 19(16), 3588;
Received: 29 June 2019 / Revised: 1 August 2019 / Accepted: 15 August 2019 / Published: 17 August 2019
(This article belongs to the Special Issue Mechanical Sensors)
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. View Full-Text
Keywords: underwater legged robot; dynamic walking; mechanical sensor underwater legged robot; dynamic walking; mechanical sensor
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MDPI and ACS Style

Portilla, 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.

AMA Style

Portilla 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(16):3588.

Chicago/Turabian Style

Portilla, Gerardo, Roque Saltarén, Francisco Montero de Espinosa, Alejandro R. Barroso, Juan Cely, and Oz Yakrangi. 2019. "Dynamic Walking of a Legged Robot in Underwater Environments" Sensors 19, no. 16: 3588.

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