Generación de trayectorias de marcha para un robot humanoide a partir de captura de movimiento
Resumen
En este trabajo se propone un método para adaptar las trayectorias de marcha de un ser humano a un robot humanoide. Las trayectorias obtenidas mediante captura de movimiento sirven como entrada a un generador de trayectorias off-line, llamado filtro dinámico en el que se tienen en cuenta las restricciones cinemáticas y dinámicas necesarias para impedir que el robot caiga mientras camina. Para validar las trayectorias se uso un simulador para el robot Bioloid Premium kit basado en el entorno V-Rep y después se implementaron sobre el robot real. A pesar de que la generación de trayectorias se lleva a cabo fuera de línea, el filtro dinámico es una buena opción para generar trayectorias que permitan mantener la estabilidad del robot.
Palabras clave
Captura de movimiento, Generación de Trayectorias, Robótica humanoide, Marcha humana, Optimización
Biografía del autor/a
Diego Alberto Bravo Montenegro
Profesor Titular Departamento de Física (Universidad del Cauca). Ingeniero Físico (2003), Esp. en Automatización Industrial (2007), Magíster en Ingeniería Automática (2012). Dr en Ciencias de la Electrónica (2016).
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