Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

Jesús M. García, Itza J. Medina, Jorge L. Martínez, Alfonso García Cerezo

Resumen

Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento.

Palabras clave

Robots móviles; estabilidad al vuelco; control de movimiento; tele-operación

Texto completo:

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J. M. García, A. Valero, A. Bohórquez
Revista Iberoamericana de Automática e Informática industrial  vol: 17  num.: 2  primera página: 201  año: 2020  
doi: 10.4995/riai.2020.12308



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