Transición entre tipos de locomoción de un robot cuadrúpedo articulado

• Autores: Edgar Mario Rico Mesa
• Directores de la Tesis: Jesús-Antonio Hernández-Riveros (dir. tes.)
• Lectura: En la Universidad Nacional de Colombia (UNAL) ( Colombia ) en 2019
• Idioma: español
• Enlaces
  • Tesis en acceso abierto en: repositorio.unal.edu.co
• Resumen

  • The present work is an investigation of the transitions between types of locomotion using central pattern generators in quadruped robots with three joints per leg. Also, central pattern generators are created with systems of first-order differential equations (recurrent neural networks) of 2, 3, 4, 5, 6 neurons. The central generators of patterns or recurrent neural networks are conformed with specific criteria. These recurring neural networks are related to the movements of the robot. Besides, an approach is made to the biomechanics of the dog.