Planificación jerárquica de movimientos de un robot trepador bípedo en estructuras tridimensionales reticulares

Los robots trepadores deben ser capaces de navegar autónomamente estructuras tridimensionales reticulares para evitar que operarios humanos se expongan a riesgos significativos al realizar tareas de mantenimiento en tales escenarios. Para dotarlos de esta capacidad, este artículo introduce un algoritmo de planificación jerárquica de movimientos para robots trepadores bípedos. A diferencia de las técnicas convencionales, nuestro algoritmo descompone el problema global en varios subproblemas, cada uno dedicado a gestionar aspectos específicos del proceso de generar una secuencia de puntos de adhesión. De forma inicial, se planifica la ruta global, que incluye la secuencia de caras que se atravesarán para alcanzar el punto designado, y qué puntos de transición se emplearan para cambiar de una cara a otra de la secuencia. Posteriormente, se calcula el camino que deberá recorrer el robot a lo largo de cada una de las caras que conforman la ruta global. Para la validación del método presentado, se incluyen imágenes y vídeo en un entorno de simulación.

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Planificación jerárquica de movimientos de un robot trepador bípedo en estructuras tridimensionales reticulares

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