Hopping on Uneven Terrains With an Underwater One-Legged Robot

Calisti, Marcello, Falotico, Egidio and Laschi, Cecilia (2016) Hopping on Uneven Terrains With an Underwater One-Legged Robot. IEEE Robotics and Automation Letters, 1 (1). pp. 461-468. ISSN 2377-3766

Full content URL: https://doi.org/10.1109/LRA.2016.2521928

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Item Type:Article
Item Status:Live Archive


In this letter, a fundamental model for underwater legged locomotion, called U-SLIP, is presented and implemented on a robotic platform. Unlike traditional locomotion models, U-SLIP addresses specific hydrodynamic contributions, such as drag, buoyancy, and added mass. By taking as a reference the USLIP model, we derived the design principles to build an effective underwater legged robot able to achieve self-stabilizing running. For the first time, a robotic platform can exhibit a dynamic mode of locomotion composed of swimming and pushing phases, demonstrating self-stabilizing running with a little control. Experiments conducted over different uneven terrains corroborate the effectiveness of the proposed model.

Keywords:Legged locomotion, Limit-cycles, Mathematical model, Drag, Buoyancy, Biological system modeling
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46162
Deposited On:24 Aug 2021 10:09

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