Revisión de la literatura en programación, simulación y caminado de robots humanoides.

• Autores: Víctor Núñez, Piero Espino Román, Josué Sapiens, Héctor Peralta
• Localización: Ciencias de la Ingeniería y Tecnología Handbook T-VI: Congreso Interdisciplinario de Cuerpos Académicos / coord. por Fernando Ambriz Colín, Antonio Arreguín Cervantes, Reynaldo Ledesma Jaime, 2014, ISBN 978-607-8324-25-5, págs. 219-227
• Idioma: español
• Enlaces
  • Texto Completo Libro (pdf)
• Resumen

  • In this paper we deal with a literature review for humanoid robot walking. This is a topic in a mature stage of research and is the basis for more evolved research topics. In particular we present recent advances in both hardware and interaction software for humanoid robots and differentiate between three main approaches for inducing stable walking : zmp and limit cyclic walking and optimization. The complexity of the dynamic model and the use of simplified models are also pointed out. For each of these topics a number of relevant references is provided.