@article{68df7f9ecd2847928a2db6054c4285c8,
title = "Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation",
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{\textquoteright}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.",
keywords = "damping, friction, gait, multibody, quadrupedal, stiffness, testbed, underwater",
author = "{P{\'e}rez Bayas}, {Miguel {\'A}ngel} and Juan Cely and Avishai Sintov and {Garc{\'i}a Cena}, {Cecilia E.} and Roque Saltaren",
note = "Publisher Copyright: {\textcopyright} 2022 by the authors.",
year = "2022",
month = nov,
doi = "10.3390/s22218462",
language = "אנגלית",
volume = "22",
journal = "Sensors",
issn = "1424-8220",
publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",
number = "21",
}