{"id":92571,"date":"2018-03-11T10:11:39","date_gmt":"2018-03-11T10:11:39","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/open-motion-control-architecture-for-humanoid-robots\/"},"modified":"2018-03-11T10:11:39","modified_gmt":"2018-03-11T10:11:39","slug":"open-motion-control-architecture-for-humanoid-robots","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/dispositivos-fotoelectricos\/open-motion-control-architecture-for-humanoid-robots\/","title":{"rendered":"Open motion control architecture for humanoid robots"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Dimitri Kaynov <\/strong><\/h2>\n<p>Esta tesis doctoral contribuye al desarrollo de arquitecturas de control para robots. Provee un estudio complejo de un dise\u00f1o de sistemas de control y hace una propuesta para una arquitectura abierta generalizada de control del movimiento para robots humanoides. Se hace un estudio de la problem\u00e1tica de un sistema de control de movimiento y se propone una nueva soluci\u00f3n al problema de la estabilidad caminando en humanoides. Se desarrolla un nuevo y original controlador de estabilizaci\u00f3n en el andar basado en el modelo din\u00e1mico del p\u00e9ndulo doble invertido desacoplado.  esta tesis propone una novedosa arquitectura de control software y hardware de movimiento para robots humanoides. La principal ventaja de esta arquitectura es que fue dise\u00f1ada para una metodolog\u00eda de sistemas abiertos, permitiendo el desarrollo de plataformas rob\u00f3ticas de alta calidad. el prototipo rh-1 de robot humanoide fue construido y usado como una plataforma de test para la implementaci\u00f3n de los conceptos descritos en esta tesis. Tambi\u00e9n, la implementaci\u00f3n de los algoritmos de control de la estabilidad andando fue hecha con la plataforma de openhrp y con el robot humanoide hrp-2. Las simulaciones y los experimentos del proceso de andar demostraron la aplicabilidad y la fiabilidad de la propuesta arquitectura.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Open motion control architecture for humanoid robots<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Open motion control architecture for humanoid robots <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Dimitri Kaynov <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 27\/03\/2009<\/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>philippe Sou\u00e9res (vocal)<\/li>\n<li>Luis Montano gella (vocal)<\/li>\n<li>Antonio Bicchi (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Dimitri Kaynov Esta tesis doctoral contribuye al desarrollo de arquitecturas de control para robots. Provee un estudio [&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":[18550,16187],"tags":[122259,16520,191430,46422,8973,191431],"class_list":["post-92571","post","type-post","status-publish","format-standard","hentry","category-carlos-iii-de-madrid","category-dispositivos-fotoelectricos","tag-antonio-bicchi","tag-carlos-balaguer-bernaldo-de-quiros","tag-dimitri-kaynov","tag-luis-montano-gella","tag-miguel-angel-salichs-sanchez-caballero","tag-philippe-soueres"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/92571","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=92571"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/92571\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=92571"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=92571"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=92571"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}