{"id":2502,"date":"1994-01-01T00:00:00","date_gmt":"1994-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/1994\/01\/01\/generacion-e-implementacion-de-modos-de-caminar-ondulatorios-para-robots-cuadrupedos\/"},"modified":"1994-01-01T00:00:00","modified_gmt":"1994-01-01T00:00:00","slug":"generacion-e-implementacion-de-modos-de-caminar-ondulatorios-para-robots-cuadrupedos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/generacion-e-implementacion-de-modos-de-caminar-ondulatorios-para-robots-cuadrupedos\/","title":{"rendered":"Generacion e implementacion de modos de caminar ondulatorios para robots cuadrupedos."},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Jimenez Ruiz M. Antonia <\/strong><\/h2>\n<p>Este trabajo es relativo a los modos de caminar periodicos, centrandose en el modo de caminar ondulatorio con deriva. En el se propone una estrategia de adaptacion a un terreno irregular; que aprovecha las posibilidades de los robots ciegos y que complementa los algoritmos existentes para vehiculos que disponen de sensores de percepcion externos. Tambien se propone un algoritmo de cambio de deriva con el criterio de mantener el modulo de la velocidad del vehiculo constante. Ademas, se analiza el problema de cambio de inclinacion y de posicion en los vehiculos caminantes debido a las flexiones en las articulaciones de las patas, y se propone una estrategia de control basada en sensores no sofisticados como inchnometros y sensores de contacto. Todos los algoritmos han sido implementados sobre un vehiculo cuadrupedo. Lo que ha permitido validar la utilizacion de robots ciegos terrenos ligeramente irregulares.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Generacion e implementacion de modos de caminar ondulatorios para robots cuadrupedos.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Generacion e implementacion de modos de caminar ondulatorios para robots cuadrupedos. <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Jimenez Ruiz M. Antonia <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Cantabria<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1994<\/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: Jos\u00e9 Mar\u00eda Drake  Moyano <\/li>\n<li>Sebasti\u00e1n Dormido Bencomo (vocal)<\/li>\n<li>Jes\u00fas Manuel De La Cruz Garc\u00eda (vocal)<\/li>\n<li>Jos\u00e9 Antonio Cordero Martin (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jimenez Ruiz M. Antonia Este trabajo es relativo a los modos de caminar periodicos, centrandose en el [&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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[10518,332,7742,2535,2453],"tags":[10620,10618,10621,10619,7747,7746],"class_list":["post-2502","post","type-post","status-publish","format-standard","hentry","category-cantabria","category-ciencias-tecnologicas","category-robotica","category-tecnologia-de-los-ordenadores","category-tecnologia-industrial","tag-jesus-manuel-de-la-cruz-garcia","tag-jimenez-ruiz-m-antonia","tag-jose-antonio-cordero-martin","tag-jose-maria-drake-moyano","tag-pablo-gonzalez-de-santos","tag-sebastian-dormido-bencomo"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/2502","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=2502"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/2502\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=2502"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=2502"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=2502"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}