{"id":92851,"date":"2018-03-11T10:11:59","date_gmt":"2018-03-11T10:11:59","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/stable-locomotion-of-humanoid-robots-based-on-mass-concentrated-model\/"},"modified":"2018-03-11T10:11:59","modified_gmt":"2018-03-11T10:11:59","slug":"stable-locomotion-of-humanoid-robots-based-on-mass-concentrated-model","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/stable-locomotion-of-humanoid-robots-based-on-mass-concentrated-model\/","title":{"rendered":"Stable locomotion of humanoid robots based on mass concentrated model"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Mario Ricardo Arbulu Saavedra <\/strong><\/h2>\n<p>La presente tesis presenta la problem\u00e1tica de la locomoci\u00f3n b\u00edpeda en robots, humanoides, planteando y aplicando algoritmos basados en la generalci\u00f3n de movimiento de una masa concentrada.   de esta manera plantea una metodolog\u00eda para calcular el paso en tiempo real, a trav\u00e9s de una serie de etapas, que parten desde el movimiento global del robot hasta los patrones de movimiento articular. Estos patrones ser\u00e1n las referencias de movimiento de las articulaciones del robot humanoide.  la planificaci\u00f3n de movimiento local del robot humanoide, se basa en el control del movimiento de su centro de gravedad (cdg). Este movimiento sigue una trayectoria que debe estabilizar al robot durante la marcha.   el concepto de estabilidad de la locomoci\u00f3n b\u00edpeda empleado es el \u00abzero moment point\u00bb (zmp), dada su eficacia obtenida durante los \u00faltimos 30 a\u00f1os, en la gran mayor\u00eda de robots humanoides.  de manera que se consiguen muy buenos resultados con el modelo del p\u00e9ndulo  invertido simple y el modelo del cart-table, propuestos por kajita et. Al. 2003.  finalmente, se plantea un algoritmo para generar pasos ac\u00edclicos, es decir, ir de una configuraci\u00f3n inicial dada hacia otra gener\u00edca, incluyendo el cambio de movimiento de brazos y torso.  todos estos algoritmos son validados en simulaciones y en robots humanoides reales, el rh-1 desarrollado en nuestro laboratorio (robotics lab, de la universidad carlos iii de Madrid) y el hrp-2, el robot humanoide m\u00e1s avanzado del mundo (kawada industries inc. Aist, jap\u00f3n).<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Stable locomotion of humanoid robots based on mass concentrated model<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Stable locomotion of humanoid robots based on mass concentrated model <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Mario Ricardo Arbulu Saavedra <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 17\/04\/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>yoshida Eiichi (vocal)<\/li>\n<li>Jos\u00e9 Luis Pons rovira (vocal)<\/li>\n<li>asfour Tamim (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Mario Ricardo Arbulu Saavedra La presente tesis presenta la problem\u00e1tica de la locomoci\u00f3n b\u00edpeda en robots, humanoides, [&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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