Optimización de la estabilidad y la velocidad de robots caminantes

• Autores: Elena García Armada
• Directores de la Tesis: Fernando Matía Espada (dir. tes.), Pablo González de Santos (dir. tes.)
• Lectura: En la Universidad Politécnica de Madrid ( España ) en 2002
• Idioma: español
• Tribunal Calificador de la Tesis: Rafael Aracil Santonja (presid.), Agustín Jiménez Avelló (secret.), Salvador Ros Torrecillas (voc.), Enric Celaya Llover (voc.), Carlos Balaguer Bernaldo de Quirós (voc.)
• Materias:
  • Ciencias tecnológicas
    • Tecnología de los ordenadores
    • Tecnología de la instrumentación
      • Ingeniería de control
    • Tecnología e ingeniería mecánicas
      • Maquinaria industrial especializada
    • Tecnología del espacio
      • Control de vehículos
• Enlaces
  • Tesis en acceso abierto en: Digital CSIC
• Resumen

  • Abstract: Legged locomotion has advantages on uneven terrain that make walking machines especially suitable for industrial and non-industrial applications, such as terrestrial and planetary exploration and humanitarian de-mining. Nevertheless, in order for successful real applications to be implemented, the current performance of walking machines must be improved. In the last three decades legged locomotion has evolved at a breathtaking pace, but still one of the major shortcomings of walking robots is their poor speed. Robot speed is limitted by actuator power and robot stability. This Thesis aims at improving legged locomotion by a) improving robot stability and 2) optimizing leg trajectories by increasing leg speed to close to the actuator-torque limits, which requires an exhaustive dynamic analysis of the system.