Análisis del deslizamiento en el punto de apoyo de un robot bípedo de 5-gdl

J.A. Vázquez, M. Velasco Villa

Resumen

En los análisis de los diversos problemas que la locomoción bípeda representa, es común la consideración de hipótesis específicas para evaluar el desempeño de un robot en un ambiente de trabajo particular. Una de estas hipótesis consiste en omitir un eventual deslizamiento, que puede existir entre los puntos o superficies de contacto de un robot bípedo con el suelo. Aunque en situaciones prácticas esta dinámica puede ser despreciable, la velocidad relativa generada por un posible deslizamiento depende tanto de las características de fricción en el punto de contacto, como de la misma dinámica del sistema. Este trabajo se enfoca en el análisis de la dinámica de deslizamiento de un robot bípedo en su punto de apoyo durante la ejecución de su ciclo de marcha. Se considera un robot sólo con articulaciones de rodilla y cadera en cada pata, por lo que, dada la ausencia de articulación de tobillo, el contacto con la superficie es considerado puntual. Se desarrollan algunas expresiones analíticas para determinar las condiciones del fenómeno de deslizamiento al considerar un grado de libertad adicional de tipo traslacional en el extremo de la pata de apoyo.

Palabras clave

Robótica; Fricción viscosa; Modelo dinámico; Control basado en modelo

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Referencias

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International Journal of Advanced Robotic Systems  vol: 14  num.: 4  primera página: 172988141771659  año: 2017  
doi: 10.1177/1729881417716593



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