{"id":62838,"date":"2008-08-02T00:00:00","date_gmt":"2008-08-02T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/diseno-y-control-reactivo-de-robots-caminantes-sobre-terreno-natural\/"},"modified":"2008-08-02T00:00:00","modified_gmt":"2008-08-02T00:00:00","slug":"diseno-y-control-reactivo-de-robots-caminantes-sobre-terreno-natural","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/diseno-y-control-reactivo-de-robots-caminantes-sobre-terreno-natural\/","title":{"rendered":"Dise\u00f1o y control reactivo de robots caminantes sobre terreno natural."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Samir Nabulsi Abussaid <\/strong><\/h2>\n<p>En esta tesis se aborda el problema de la locomoci\u00f3n sobre terreno natural de robots caminantes, y se proponen diversas soluciones para el control de la interacci\u00f3n robot-entorno basadas en arquitecturas de control reactivo. Para la realizaci\u00f3n de la tesis se ha elegido como plataforma experimental el robot roboclimber, que es un robot cuadr\u00fapedo, caminante y escalador, de grandes dimensiones, capaz de llevar consigo una carga muy elevada de equipo especializado para la consolidaci\u00f3n de laderas de monta\u00f1as rocosas. Partiendo del dise\u00f1o, realizaci\u00f3n y modelaci\u00f3n del robot y de su sistema de actuaci\u00f3n servo-hidr\u00e1ulico, y definida su arquitectura de control, se investigan diversas alternativas para la obtenci\u00f3n de las fuerzas de reacci\u00f3n robot-entorno, bien de forma indirecta empleando sensores de ultrasonidos, bien de forma directa mediante el empleo de sensores de presi\u00f3n localizados en los actuadores hidr\u00e1ulicos. tanto para la implementaci\u00f3n de las estrategias de control reactivo en tiempo real como para su evaluaci\u00f3n experimental se ha empleado como plataforma a roboclimber, con el que se han realizado pruebas exhaustivas y multitud de experimentos. Esta fase de experimentaci\u00f3n ha servido tambi\u00e9n para evaluar la funcionalidad del robot en distintos tipos de situaciones con los que se va a tener que enfrentar habitualmente un robot de servicios que tiene que trabajar en ambientes y condiciones naturales, lo que significa, en la pr\u00e1ctica, condiciones muy exigentes y de un grado de dificultad elevado. Aunque se haya empleado roboclimber como plataforma de experimentaci\u00f3n, muchos de los resultados obtenidos son de aplicabilidad, en general, al problema del control de robots caminantes sobre terreno natural.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dise\u00f1o y control reactivo de robots caminantes sobre terreno natural.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dise\u00f1o y control reactivo de robots caminantes sobre terreno natural. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Samir Nabulsi Abussaid <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Complutense de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 08\/02\/2008<\/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>Manuel \u00e1ngel Amada Rodr\u00edguez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Antonio Hern\u00e1ndez cachero <\/li>\n<li>Juan Lopez coronado (vocal)<\/li>\n<li>pablo Gonz\u00e1lez de santos (vocal)<\/li>\n<li>Carlos Cerrada somolinos (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Samir Nabulsi Abussaid En esta tesis se aborda el problema de la locomoci\u00f3n sobre terreno natural de [&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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