Estrategias de adaptabilidad estáticamente estables al cambio de terreno para un robot caminante de seis extremidades

X. Yamile Sandoval Castro; Eduardo Castillo Castañeda

doi:10.4995/riai.2019.8979

Autores/as

X. Yamile Sandoval Castro CONACYT-Instituto Politécnico Nacional
Eduardo Castillo Castañeda Instituto Politécnico Nacional

DOI:

https://doi.org/10.4995/riai.2019.8979

Palabras clave:

Cinemática directa, Cinemática inversa, Orientación constante del tórax, Estrategia de emergencia, Estrategia geométrica, Estabilidad

Resumen

Este artículo presenta la cinemática directa e inversa en posición de un robot caminante hexápodo, tomando en cuenta la pose del tórax. También se presentan tres estrategias de adaptabilidad al terreno que garantizan la estabilidad: orientación constante del tórax, estrategia geométrica y estrategia de emergencia. El diseño de las estrategias de adaptabilidad considera los parámetros geométricos y el peso de todos los elementos. La cinemática directa e inversa es esencial para redireccionar la postura del robot caminante. La estabilidad de las estrategias es evaluada con el margen normalizado de estabilidad energético (NESM). Las estrategias fueron simuladas en software especializado y se validaron experimentalmente.

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Citas

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