{"id":78007,"date":"2018-03-09T23:23:38","date_gmt":"2018-03-09T23:23:38","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/algoritmos-de-geometria-diferencial-para-la-locomocion-y-navegacion-bipedas-de-robots-humanoides-aplicacion-al-robot-rh0\/"},"modified":"2018-03-09T23:23:38","modified_gmt":"2018-03-09T23:23:38","slug":"algoritmos-de-geometria-diferencial-para-la-locomocion-y-navegacion-bipedas-de-robots-humanoides-aplicacion-al-robot-rh0","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/algoritmos-de-geometria-diferencial-para-la-locomocion-y-navegacion-bipedas-de-robots-humanoides-aplicacion-al-robot-rh0\/","title":{"rendered":"Algoritmos de geometria diferencial para la locomocion y navegacion bipedas de robots humanoides aplicacion al robot rh0"},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Pardos Gotor Jos\u00e9 Manuel <\/strong><\/h2>\n<p>Los humanos crean entornos adecuados para ser habitados por ellos mismos, por lo que un robot humanoide puede ser un instrumento bien adaptado para proporcionar servicios a las personas. Pero el control de estos mecanismos supone un formidable desaf\u00edo computacional, debido al gran n\u00famero de grados de libertad y restricciones. Esta tesis, pionera en el campo de la investigaci\u00f3n con robots, tiene como objetivo fundamental la resoluci\u00f3n completa del problema de locomoci\u00f3n y navegaci\u00f3n b\u00edpedas de robots humanoides.  la tesis aborda los problemas de locomoci\u00f3n y navegaci\u00f3n utilizando t\u00e9cnicas de geometr\u00eda diferencial basadas en la teor\u00eda matem\u00e1tica de grupos y \u00e1lgebras de lie, para desarrollar nuevos algoritmos geom\u00e9tricos de prop\u00f3sito general, no presentados anteriormente en la literatura. El nuevo algoritmo \u00abun paso adelante\u00bb (upa), resuelve la locomoci\u00f3n b\u00edpeda bas\u00e1ndose en el nuevo modelo \u00abdivisi\u00f3n cinem\u00e1tica sagital\u00bb (dcs). El nuevo algoritmo \u00abm\u00e9todo modificado de marcha r\u00e1pida\u00bb (m3r) proporciona trayectorias libres de colisiones para cualquier entorno de trabajo. La navegaci\u00f3n se aborda con el nuevo modelo \u00abtrayectoria corporal global\u00bb (tcg). Se ha creado un nuevo simulador de realidad virtual para desarrollar las nuevas teor\u00edas, que se han verificado en experimentos reales con el humanoide rh0 de la universidad carlos iii de Madrid.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Algoritmos de geometria diferencial para la locomocion y navegacion bipedas de robots humanoides aplicacion al robot rh0<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Algoritmos de geometria diferencial para la locomocion y navegacion bipedas de robots humanoides aplicacion al robot rh0 <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Pardos Gotor Jos\u00e9 Manuel <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 19\/12\/2005<\/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>Carlos Balaguer Bernaldo De Quir\u00f3s<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Miguel \u00e1ngel Salichs s\u00e1nchez-caballero <\/li>\n<li>josep Amat girbao (vocal)<\/li>\n<li>sebasti\u00e1n Dormido bencomo (vocal)<\/li>\n<li> Tardos solano Juan  domingo (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Pardos Gotor Jos\u00e9 Manuel Los humanos crean entornos adecuados para ser habitados por ellos mismos, por lo [&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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