Desarrollo de un sistema robotico subactuado
"This document presents the development of a prototype of an underactuated biped robot. Initially, the operating characteristics and physical principles involved are presented. Second, a Two-Plane bidimensional underactuated biped system model is simulated. Using this simuation, it is possible...
- Autores:
-
Vivas Hernández, Juan David
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2017
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/61197
- Acceso en línea:
- http://hdl.handle.net/1992/61197
- Palabra clave:
- Robots
- Rights
- openAccess
- License
- https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
| Summary: | "This document presents the development of a prototype of an underactuated biped robot. Initially, the operating characteristics and physical principles involved are presented. Second, a Two-Plane bidimensional underactuated biped system model is simulated. Using this simuation, it is possible to determine the geometry of the biped robot and to estimate the necessary force to generate the walking cycle. Then, a prototype with the characteristics obtained in the simulation, is designed and constructed. Finally, the prototype is tested and its performance is evaluated. Recommendations for future work improvements are proposed".-- Tomado del Formato de Documento de Grado |
|---|