Algoritmo estocástico para la generación automática de trayectorias de un robot humanoide

Resumen

Introducción: La incorporación de sistemas de aprendizaje autónomos en la robótica permitirá la resolución de una gran cantidad de problemas. Uno de ellos es la marcha autónoma para el caso de los robots humanoides debido a la complejidad que tiene por la gran cantidad de variables que influyen en este proceso.Objetivo: Desarrollar algoritmos que generen marchas autónomas en un robot humanoide con varios grados de libertad.Metodología: El estudio inicia con el desarrollo de algoritmos estocásticos con pocas dimensiones; luego, se extiende a situaciones n-dimensionales. Posteriormente, se realizan pruebas en simulación, y, por último, las pruebas experimentales. Resultados: Se generó un algoritmo basado en el modelo físico del robot para crear las trayectorias de marcha estocásticamente.Se implementó un simulador que contempla las restricciones cinemáticas incluyendo colisiones para verificar los resultados. Adicionalmente, se realizaron cien pruebas experimentales donde se verificó el correcto funcionamiento de las trayectorias.Conclusiones: Se pudo corroborar que es posible crear un algoritmo estocástico que mezcla reglas determinantes y aleatorias para generar marchas automáticamente en robots humanoides, extendiendo conceptos generados en espacios bidimensionales y tridimensionales a coordenadas articulares n-dimensionales.
Palabras clave: Robots humanoides, planificación de trayectorias, robots autónomos

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Acerca de los Autores

Cristian Villate, Universidad de Pamplona. Pamplona (Colombia)
received the Mechatronic engineering degree from the Pamplona University, Pamplona, Colombia, in 2017. He hasbeen a researcher of the SIARC-A&C (Research Group in Automation and Control) since 2015. http://orcid.org/0000-0002-5427-730X
Cesar Augusto Peña Cortes, Universidad de Pamplona. Pamplona (Colombia)
is currently a full professor in the Department of Mechanical, Mechatronics and Industrial Engineering at the University of Pamplona (since 2004). He is part of the Automation and Control research group. He holds a PhD inAutomation and Robotics from the Universidad Politécnicade Madrid, Spain (2006). He has a Master’s degree in Electronics and Computer Engineering from the Universidad de los Andes, Colombia (2003) and a professional degree as an Electromechanical Engineer from the Pedagogical and Technological University of Colombia (2001). His research topics revolve around service robots, artificial vision and neurosignals, in which he has several publications in journals and congresses lectures. https://orcid.org/0000-0003-4148-2168
Oscar Eduardo Gualdron Guerrero, Universidad de Pamplona. Pamplona (Colombia)
received his PhD degree in Electronic Engineering from the Rovira I Virgili university, Tarragona, Spain (2006). He is currently the research manager at the University of Pamplona and a full professor in the Department of Electronic Engineering (since 2007). He is part of the Automation and Control research group and the Multisensorial System research group. https://orcid.org/0000-0002-7854-6842
Publicado
2018-01-01
Cómo citar
Villate, C., Peña Cortes, C., & Gualdron Guerrero, O. (2018). Algoritmo estocástico para la generación automática de trayectorias de un robot humanoide. INGE CUC, 14(1), 30-40. https://doi.org/10.17981/ingecuc.14.1.2018.03
Sección
ARTÍCULOS