Ontology highlight
ABSTRACT:
SUBMITTER: Portilla G
PROVIDER: S-EPMC6721286 | biostudies-literature | 2019 Aug
REPOSITORIES: biostudies-literature
Portilla Gerardo G Saltarén Roque R Espinosa Francisco Montero de FM Barroso Alejandro R AR Cely Juan J Yakrangi Oz O
Sensors (Basel, Switzerland) 20190817 16
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 contr ...[more]