Dynamic Walking of a Legged Robot in Underwater Environments

Portilla, Gerardo; Saltarén, Roque; Espinosa, F. Montero de; Rodriguez-Barroso, Alejandro; Cely, Juan S.; Yakrangi, Oz

doi:10.3390/s19163588

Cited by 7 publications

(6 citation statements)

References 33 publications

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“…Compared with other underwater robot, the main advantages of the robot in this paper are as follows: 1) The crawling mechanism, manipulating arm and swimming mechanism of the POSEIDRONE robot ( Calisti et al, 2015 ) are independent and decoupled from each other, which reduces the difficulty, but the complexity is high. 2) What’s more, another bipedal walking robot ( Portilla et al, 2019 ) is hydraulicly driven, and the SLIP model of land bipedal walking is extended and applied to underwater bipedal walking control. 3) The structure of SILVER and SILVER2 robots is a kind of legged rigid structure which only have two degrees of freedom.…”

Section: Discussionmentioning

confidence: 99%

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Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Yang

et al. 2022

Front. Robot. AI

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The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.

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Section: Discussionmentioning

confidence: 99%

“…2) What’s more, another bipedal walking robot ( Portilla et al, 2019 ) is hydraulicly driven, and the SLIP model of land bipedal walking is extended and applied to underwater bipedal walking control.…”

Section: Discussionmentioning

confidence: 99%

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Yang

et al. 2022

Front. Robot. AI

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“…Multimodal vehicles, implementing both benthic and pelagic forms of locomotion, such as the hexapod CR200 [74], capable of walking and swimming, or the hybrid robot Diverbot [65], capable of bipedal locomotion and propeller-driven mobility, need a similar device to transition from negative to neutral buoyancy when passing from benthic to pelagic mode. Finally, ULRs adopting a hopping-based locomotion [24,[68][69][70][71]75] (sometimes referred to as punting), can resort to light configuration to enable high hops to overcome obstacles and irregular terrain, while staying heavy, would improve the rejection of current disturbance or allow to exert higher forces in manipulation tasks [71].…”

Section: Buoyancymentioning

confidence: 99%

“…The category of ULRs is very heterogeneous in terms of morphology and size. Prototypes with one [70,71], two [75], four [68,72,89], six [24,84,102,103,107,108], and eight legs [87] were developed, and legs with one [99], two [71,92], three [24,72,109], or more [110] DoFs were employed. Naturally, ULRs with a higher number of DoFs are potentially more versatile and several behaviours can be implemented on the same robot.…”

Section: Modelling and Controlmentioning

confidence: 99%

Underwater legged robotics: review and perspectives

et al. 2023

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Nowadays, there is a growing awareness on the social and economic importance of the ocean. In this context, being able to carry out a diverse range of operations underwater is of paramount importance for many industrial sectors as well as for marine science and to enforce restoration and mitigation actions. Underwater robots allowed us to venture deeper and for longer time into the remote and hostile marine environment. However, traditional design concepts such as propeller driven Remotely Operated Vehicles (ROVs), Autonomous Underwater Vehicles (AUVs), or tracked benthic crawlers, present intrinsic limitations, especially when a close interaction with the environment is required. An increasing number of researchers are proposing legged robots as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance. In this work, we aim at presenting the new field of underwater legged robotics in an organic way, discussing the prototypes in the state-of-the-art and highlighting technological and scientific challenges for the future. First, we will briefly recap the latest developments in traditional underwater robotics from which several technological solutions can be adapted, and on which the benchmarking of this new field should be set. Second, we will the retrace the evolution of terrestrial legged robotics, pinpointing the main achievements of the field. Third, we will report a complete state of the art on Underwater Legged Robots (ULRs) focusing on the innovations with respect to the interaction with the environment, sensing and actuation, modelling and control, and autonomy and navigation. Finally, we will thoroughly discuss the reviewed literature by comparing traditional and legged underwater robots, highlighting interesting research opportunities, and presenting use case scenarios derived from marine science applications.

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“…Xie et al [6] proposed a four-legged robot attitude control method that uses the hip-side swing joint moment of the support leg to balance the body's turnover. Portilla et al [7] proposed an underwater zero moment point (Uzmp) method to generate the trajectory of the robot's center of mass. The method stabilizes the balance of the robot before being subjected to any external interference, and successfully realizes the dynamic walking of the legged robot in the underwater environment.…”

Section: Introductionmentioning

confidence: 99%

Research on the Stationarity of Hexapod Robot Posture Adjustment

Zhang

Wang

Gao

et al. 2020

Sensors

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This paper proposes a smooth adjustment method for the instability problem that occurs during the start and stop of a multi-footed robot during attitude change. First, kinematics analysis is used to establish the mapping relationship between the joint angles of the robot support legs and the body posture. The leg joint angle is a known quantity that can be measured accurately and in real time. Therefore, when the position of the foot end of the support leg is unchanged, a unique set of joint angles can be obtained with the change of body posture at a certain moment. Based on the designed mapping model, the smooth adjustment of the posture can be achieved by the smooth adjustment of the support legs. Second, a constraint index that satisfies the requirements of the robot’s steady adjustment of the robot is given. The S-curve acceleration/deceleration method is used to plan the body’s attitude angle transformation curve, and then the mapping control relationship is used to obtain the control trajectory requirements of the joint to achieve smooth adjustment. In addition, this paper also gives a simple choice and motion control method for the redundancy problem caused by the number of support legs of a multi-footed robot when the attitude is changed. The simulation and prototype experiments verify and analyze the proposed method. The results of comparative experiments show that the posture adjustment method proposed in this paper has continuous acceleration without breakpoints, the speed changes gently during the start and stop phases of the attitude transformation, and there is no sudden change in the entire process, which improves the consistency of the actual values of the attitude planning curve with the target values. The physical prototype experiment shows that the maximum deviation between the actual value of the attitude angular velocity and the target value changes from 62.5% to 5.5%, and the degree of fit increases by 57.0%. Therefore, this study solves the problem of the instability of the fuselage when the robot changes its attitude, and it provides an important reference for the multi-footed robot to improve the terrain adaptability.

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Dynamic Walking of a Legged Robot in Underwater Environments

Cited by 7 publications

References 33 publications

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Underwater legged robotics: review and perspectives

Research on the Stationarity of Hexapod Robot Posture Adjustment

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