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• W2968152495 endingPage "3588" @default.
• W2968152495 startingPage "3588" @default.
• W2968152495 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." @default.
• W2968152495 created "2019-08-22" @default.
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• W2968152495 date "2019-08-17" @default.
• W2968152495 modified "2023-10-01" @default.
• W2968152495 title "Dynamic Walking of a Legged Robot in Underwater Environments" @default.
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• W2968152495 doi "https://doi.org/10.3390/s19163588" @default.
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