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• W4308333335 abstract "Exploration of the seabed may be complex, and different parameters must be considered for a robotic system to achieve tasks in this environment, such as soil characteristics, seabed gait, and hydrodynamic force in this extreme environment. This paper presents a gait simulation of a quadrupedal robot used on a typical terrigenous sediment seabed, considering the mechanical properties of the type of soil, stiffness, and damping and friction coefficients, referenced with the specialized literature and applied in a computational multibody model with many experimental data in a specific underwater environment to avoi hydrodynamic effects. The requirements of the positions and torque in the robot's active joints are presented in accordance with a 5R mechanism for the leg and the natural pattern shown in the gait of a dog on the ground. These simulation results are helpful for the design of a testbed, with a leg prototype and its respective hardware and software architecture and a subsequent comparison with the real results." @default.
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• W4308333335 date "2022-11-03" @default.
• W4308333335 modified "2023-10-18" @default.
• W4308333335 title "Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation" @default.
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• W4308333335 doi "https://doi.org/10.3390/s22218462" @default.
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