Memorias de investigación
Research Publications in journals:
Dynamic walking of a Legged Robot in Underwater Environments
Year:2019
Research Areas
  • Information technology and adata processing,
  • Robot design,
  • Architectures of control of robots,
  • Sensor devices
Information
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.
International
Si
JCR
Si
Title
Sensors
ISBN
1424-8220
Impact factor JCR
Impact info
Volume
Journal number
From page
3588
To page
3596
Month
AGOSTO
Ranking
Participants
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial