Synergistic Motion Stability of a Scorpion-like Composite Robot

Round 1

Reviewer 1 Report

The article is interesting and valuable. The reviewer enthusiastically accepts the undertaken research topic. The work is up-to-date, as are the sources it was based on. The introduction state the purpose of the paper. The work deals with an important problem of mechanical stability. The modern CAD/CAE computer program ADAMS is used to calculate the problem of dynamics. Experiments were carried out in the field of work of the robot. The article is written in logical manner. The mathematical apparatus shown in the work is not at a high level.

 

Minor:

The article hasn't IMRaD structure. 

You should improve the quality of the Figures.

You sholud improve the quality of the equations.

What is the physical meaning of the coefficient "Mu" in equation (16) ?

 

Major:

The summary section should be thoroughly edited.

The results from Section 5 should be transferred to the Materials and Methods section

The authors should clearly highlight the research gap found in science.

The authors should add to the article the equation describing the PD control model.

Figure 21 should be redesigned to make it scientific.

The authors should define in the text of the article the criterion of dynamic stability for the presented robot. The definition should say when the robot is stable and when it is not stable.

 

Author Response

Dear Reviewers,
  The author of this article is required to make changes to the article according to all your requirements. The specific changes are as follows:
(1) The article summary has been re-edited according to your request.
(2) The article has been changed to an IMRaD structure as requested, and the results of Section 5 of the original article have been placed on the Materials and Methods section.
(3) The equations of the PID control model have been added to the article according to your requirements, and the equations proposed in this article are introduced in more detail.
(4) Figure 21 has been redesigned according to your requirements, in order to more clearly see the behavior of the robot, I have cut out the robot as a whole to make the robot more prominent.
(5) The dynamic stability criteria in this article have been redefined according to your requirements.
(6) The physical function has been supplemented with the coefficients of Equation 16 according to your requirements.
The content of this revision has been marked in yellow in the article, and all the authors of this article thank you for your criticism and correction of the article.

Reviewer 2 Report

Review the suggested changes in red are typos. The article seems sloppy, and things are missing, e.g., equation 16 is irrelevant and not cited. The motivation and development section seems adequate except for a small precision in the equations. On the other hand, the simulation appears sufficient, but it is not clear how it works in real-time.

The study omits the platform and how the experimentation was carried out. It has the simulation developed, but there is no information about the implementation. How were the actual performance's position and velocity data obtained (an IMU)? What kind of actuators? Are there gearboxes? Does the power system have power in the robot, or is it external? The processing and acquisition how was it obtained? Is the robot a commercial platform? 

One of the ideas of the research articles is that readers or interested parties can replicate them. 

Comments for author File: Comments.pdf

Author Response

Dear Reviewers,
  The author of this article is required to make changes to the article according to all your requirements. The specific changes are as follows:
(1) The article has been re-edited according to the changes you suggested.
(2) Equation 16 has been redefined according to your requirements.
(3) The hardware devices in this article have been described in detail according to your requirements.
(4) The robot in this article is powered by a 2500mAH power supply, there is no gearbox, and the control program of the robot is written in Python. All the behavior of the robot is driven by the Raspberry Pi 4B board LX-224HV serial bus servo at 20kg/cm. The pitch and roll angles of the robot are acquired by the MPU6050 six-axis sensor. The development of robots is currently in the research and development stage, not a commercial platform.
The content of this revision has been marked in yellow in the article, and all the authors of this article thank you for your criticism and correction of the article.

Round 2

Reviewer 2 Report

Thanks for your attention. All suggestions were resolved except for the possibility of replication. Therefore, I suggest you upload the code to a repository (GitHub or similar).