Transición entre tipos de locomoción de un robot cuadrúpedo articulado

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dc.contributor.advisorHernandez Riveros, Jesus Antoniospa
dc.contributor.authorRico Mesa, Edgar Mariospa
dc.contributor.corporatenameUniversidad Nacionalspa
dc.contributor.researchgroupGrupo de Investigación en Inteligencia Computacionalspa
dc.date.accessioned2020-09-14T14:21:59Zspa
dc.date.available2020-09-14T14:21:59Zspa
dc.date.issued2019-07-15spa
dc.description.abstractThe present work is an investigation of the transitions between types of locomotion using central pattern generators in quadruped robots with three joints per leg. Also, central pattern generators are created with systems of first-order differential equations (recurrent neural networks) of 2, 3, 4, 5, 6 neurons. The central generators of patterns or recurrent neural networks are conformed with specific criteria. These recurring neural networks are related to the movements of the robot. Besides, an approach is made to the biomechanics of the dog.spa
dc.description.abstractEl presente trabajo es una investigación sobre las transiciones entre tipos de locomoción empleando generadores centrales de patrones en robots cuadrúpedos con tres articulaciones por pata. Además, se crean generadores centrales de patrones con sistemas de ecuaciones diferenciales de primer orden (redes neuronales recurrentes) de 2, 3, 4, 5, 6 neuronas. Los generadores centrales de patrones o redes neuronales recurrentes son conformados con criterios específicos. Estas redes neuronales recurrentes se relacionan con los movimientos del robot. También se hace una aproximación a la biomecánica del perro.spa
dc.description.additionalLínea de Investigación: Inteligencia Artificialspa
dc.description.degreelevelDoctoradospa
dc.format.extent142spa
dc.format.mimetypeapplication/pdfspa
dc.identifier.citationRico Mesa Edgar Mario, Hernandez-Riveros Jesus-Antonio, Transición entre tipos de locomoción de un robot cuadrúpedo articulado, Tesis para optar al título de: Doctorado en Ingeniería – Sistemas e Informatica presentada a Universidad Nacional,2019,spa
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/78456
dc.language.isospaspa
dc.publisher.branchUniversidad Nacional de Colombia - Sede Medellínspa
dc.publisher.programMedellín - Minas - Doctorado en Ingeniería - Sistemasspa
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dc.rightsDerechos reservados - Universidad Nacional de Colombiaspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.licenseAtribución-NoComercial 4.0 Internacionalspa
dc.rights.spaAcceso abiertospa
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/spa
dc.subject.ddcInteligencia Artificialspa
dc.subject.ddc000 - Ciencias de la computación, información y obras generales::005 - Programación, programas, datos de computaciónspa
dc.subject.proposalSistemas de ecuaciones diferenciales de primer ordenspa
dc.subject.proposalFirst-order differential equation systemseng
dc.subject.proposalRedes Neuronales Recurrentesspa
dc.subject.proposalRecurring Neural Networkseng
dc.subject.proposalQuadruped Roboteng
dc.subject.proposalRobot Cuadrúpedospa
dc.subject.proposalAlgoritmos evolutivosspa
dc.subject.proposalEvolutionary Algorithmseng
dc.subject.proposalLógica Difusaspa
dc.subject.proposalDiffuse Logiceng
dc.subject.proposalCPGspa
dc.subject.proposalCPGeng
dc.titleTransición entre tipos de locomoción de un robot cuadrúpedo articuladospa
dc.title.alternativeTransition between locomotion types of an articulated quadruped robotspa
dc.typeTrabajo de grado - Doctoradospa
dc.type.coarhttp://purl.org/coar/resource_type/c_db06spa
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aaspa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/doctoralThesisspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2spa

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