{"id":27929,"date":"2018-03-09T09:20:24","date_gmt":"2018-03-09T09:20:24","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modos-de-caminar-libres-y-sensores-virtuales-para-robots-cuadrupedos\/"},"modified":"2018-03-09T09:20:24","modified_gmt":"2018-03-09T09:20:24","slug":"modos-de-caminar-libres-y-sensores-virtuales-para-robots-cuadrupedos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modos-de-caminar-libres-y-sensores-virtuales-para-robots-cuadrupedos\/","title":{"rendered":"Modos de caminar libres y sensores virtuales para robots cuadr\u00fapedos"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Joaquin Estremera Rodrigo <\/strong><\/h2>\n<p>Las m\u00e1quinas caminantes ofrecen unas caracter\u00edsticas muy diferentes a las de los veh\u00edculos tradicionales. Entre las ventajas de los robots caminantes destacan su extraordinaria maniobrabilidad y capacidad de adaptaci\u00f3n a terrenos muy irregulares; entre sus inconvenientes se encuentra la gran complejidad de la mec\u00e1nica, la electr\u00f3nica y el software necesario, que ha contribuido a que las aplicaciones reales sean escasas. El objetivo general de esta tesis es potenciar la maniobrabilidad y la adaptaci\u00f3n al terreno de robots caminantes cuadr\u00fapedos, reduciendo al mismo tiempo su complejidad, de manera que sean m\u00e1s competitivos frente a los veh\u00edculos convencionales.  la planificaci\u00f3n de cada movimiento del robot orientada a lograr una locomoci\u00f3n estable se denomina modo de caminar. En esta tesis se proponen nuevos modos de caminar para robots cuadr\u00fapedos que potencian la maniobrabilidad de la m\u00e1quina haciendo posible un movimiento omnidireccional. Estos modos se caminar est\u00e1n dise\u00f1ados para permitir la adaptaci\u00f3n a terrenos muy irregulares, que pueden incluir zonas en las cuales el robot no deje pisar.  para que un robot caminante pueda adaptarse a un terreno no estructurado es necesario, adem\u00e1s de un modo de caminar apropiado, disponer de informaci\u00f3n sensorial acerca de la interacci\u00f3n de la m\u00e1quina con el terreno. En esta tesis se propone un m\u00e9todo para estimar las fuerzas ejercidas por los pies a partir de datos disponibles de los sensores de posici\u00f3n de las articulaciones, lo que puede suponer la eliminaci\u00f3n de algunos sensores y la consiguiente simplificaci\u00f3n de la m\u00e1quina.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modos de caminar libres y sensores virtuales para robots cuadr\u00fapedos<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modos de caminar libres y sensores virtuales para robots cuadr\u00fapedos <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Joaquin Estremera Rodrigo <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Complutense de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 19\/12\/2003<\/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: Juan  Andr\u00e9s de Agapito serrano <\/li>\n<li>alfonso Ba\u00f1os torrico (vocal)<\/li>\n<li>Manuel angel Armada rodriguez (vocal)<\/li>\n<li>Javier Gonz\u00e1lez gimenez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Joaquin Estremera Rodrigo Las m\u00e1quinas caminantes ofrecen unas caracter\u00edsticas muy diferentes a las de los veh\u00edculos tradicionales. [&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":[1],"tags":[38688,79889,79888,6124,7744,7747],"class_list":["post-27929","post","type-post","status-publish","format-standard","hentry","category-sin-categoria","tag-alfonso-banos-torrico","tag-javier-gonzalez-gimenez","tag-joaquin-estremera-rodrigo","tag-juan-andres-de-agapito-serrano","tag-manuel-angel-armada-rodriguez","tag-pablo-gonzalez-de-santos"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/27929","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=27929"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/27929\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=27929"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=27929"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=27929"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}