Modelado matemático de un robot bípedo con equilibrio dinámico
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La investigación presenta el desarrollo de un modelo matemático configurable de robot bípedo capaz de emular robots comerciales así como otros diseños antropomórficos para la prueba de controles de marcha en un ambiente virtual. El modelo cuenta con sub-sistemas que permiten configurar condiciones especiales de contacto visco elástico entre los pies del robot y el suelo; la acción de fuerzas de perturbación dinámicas son contrarrestadas por el control de equilibrio del robot que mantiene una postura erguida durante las fases de marcha. El modelo se prueba en condiciones de apoyo doble, apoyo simple y marcha para estudiar su respuesta a perturbaciones externas como internas.
The project presents the development of a configurable mathematical model for a biped robot capable of emulating commercial robots as well as other anthropomorphic design for the test of gait controls in a virtual environment. The model has sub-systems allowing the set of special conditions of visco elastic contact between the feet of the robot and the ground; the simulation of the dynamic disturbance forces are canceled by the robot’s balance control keeping it on a erect stance . The model is tested under conditions of double support, single support and gait to study its response to external and internal disturbances
The project presents the development of a configurable mathematical model for a biped robot capable of emulating commercial robots as well as other anthropomorphic design for the test of gait controls in a virtual environment. The model has sub-systems allowing the set of special conditions of visco elastic contact between the feet of the robot and the ground; the simulation of the dynamic disturbance forces are canceled by the robot’s balance control keeping it on a erect stance . The model is tested under conditions of double support, single support and gait to study its response to external and internal disturbances