{"id":18555,"date":"2018-03-09T09:07:08","date_gmt":"2018-03-09T09:07:08","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/optimizacion-de-la-estabilidad-y-la-velocidad-de-robots-caminantes\/"},"modified":"2018-03-09T09:07:08","modified_gmt":"2018-03-09T09:07:08","slug":"optimizacion-de-la-estabilidad-y-la-velocidad-de-robots-caminantes","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/optimizacion-de-la-estabilidad-y-la-velocidad-de-robots-caminantes\/","title":{"rendered":"Optimizaci\u00f3n de la estabilidad y la velocidad de robots caminantes"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Elena Garc\u00eda Armada <\/strong><\/h2>\n<p>A pesar de la gran evoluci\u00f3n tecnol\u00f3gica que han sufrido los robots caminantes en las \u00faltimas d\u00e9cadas, a\u00fan contin\u00faan sin tener aplicaci\u00f3n en los sectores productivos. Sus numerosas ventajas frente a los robots con rueda u orugas en aplicaciones sobre terrenos accidentados y no preparados se ven eclipsadas por su principal desventaja: la baja velocidad de funcionamiento.  la velocidad de los robots caminantes est\u00e1 limitada, por un lado, por la potencia de sus actuadores y la din\u00e1mica del sistema. Por otro lado, el uso de criterios de estabilidad inadecuados impiden utilizar velocidades elevadas durante el movimiento de sus miembros.  el objetivo principal de este trabajo ha sido mejorar la velocidad de los robots caminantes. Para ello se han abordado los dos problemas fundamentales:  a,- la b\u00fasqueda de un criterios de estabilidad adecuado para la din\u00e1mica de los robots caminantes.  b,- la necesidad de un algoritmo para la generaci\u00f3n on-line de trayectorias de velocidad m\u00e1xima, lo que requiere un exhaustivo an\u00e1lisis din\u00e1mico.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Optimizaci\u00f3n de la estabilidad y la velocidad de robots caminantes<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Optimizaci\u00f3n de la estabilidad y la velocidad de robots caminantes <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Elena Garc\u00eda Armada <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 18\/07\/2002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Pablo Gonzalez De Santos<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: rafael Aracil santonja <\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<li>salvador Ros torrecillas (vocal)<\/li>\n<li>enric Celaya llover (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Elena Garc\u00eda Armada A pesar de la gran evoluci\u00f3n tecnol\u00f3gica que han sufrido los robots caminantes en [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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