{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:26:57Z","timestamp":1760232417389,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T00:00:00Z","timestamp":1667433600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish Government Projects","award":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"],"award-info":[{"award-number":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"]}]},{"name":"RoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub","award":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"],"award-info":[{"award-number":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"]}]},{"name":"Programas Actividades I + D en la Comunidad de Madrid","award":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"],"award-info":[{"award-number":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"]}]},{"name":"Structural Funds of the EU","award":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"],"award-info":[{"award-number":["PGC2018-095939-B-I00","DPI2014-57220-C2-1-P","S2018\/NMT-4331"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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\u2019s 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.<\/jats:p>","DOI":"10.3390\/s22218462","type":"journal-article","created":{"date-parts":[[2022,11,4]],"date-time":"2022-11-04T04:00:51Z","timestamp":1667534451000},"page":"8462","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4996-9416","authenticated-orcid":false,"given":"Miguel \u00c1ngel","family":"P\u00e9rez Bayas","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"},{"name":"Escuela Superior Polit\u00e9cnica de Chimborazo, Riobamba 060155, Ecuador"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3348-0533","authenticated-orcid":false,"given":"Juan","family":"Cely","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3320-3897","authenticated-orcid":false,"given":"Avishai","family":"Sintov","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Tel Aviv University, Tel Aviv 6997801, Israel"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1067-0564","authenticated-orcid":false,"given":"Cecilia E.","family":"Garc\u00eda Cena","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Escuela T\u00e9cnica Superior de Ingenier\u00eda y Dise\u00f1o Industrial ETSIDI-Universidad Polit\u00e9cnica de Madrid, Ronda de Valencia 3, 28012 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8009-5350","authenticated-orcid":false,"given":"Roque","family":"Saltaren","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,3]]},"reference":[{"key":"ref_1","unstructured":"Bellingham, J. 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Eng."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/21\/8462\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:09:56Z","timestamp":1760144996000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/21\/8462"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,3]]},"references-count":33,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2022,11]]}},"alternative-id":["s22218462"],"URL":"https:\/\/doi.org\/10.3390\/s22218462","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,11,3]]}}}