Resumen de Optimización de la estabilidad y la velocidad de robots caminantes

Elena García Armada

• 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.