Publication: Estudio del comportamiento de los CDM de los elementos básicos del bípedo PASIBOT
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2011-07
Defense date
2011-07-28
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Abstract
El proyecto “Estudio del comportamiento de los CDM de los elementos básicos del bípedo Pasibot” se centra en el análisis de un diseño robótico en su proceso de creación y desarrollo. En el proyecto se hace un recorrido general por la historia de la robótica, destacando sus orígenes y distintos tipos de robots: activos, pasivos, humanoides, industriales, etc. Es aquí donde se cataloga que tipo de robot es con el que tratamos. Una vez situados en el marco de trabajo, se entra en detalle con relación a qué es el Pasibot en realidad: un robot bípedo con un único grado de libertad que busca simular la marcha humana de la manera más sencilla posible. Se explica el funcionamiento, los elementos geométricos que permiten que se mueva y se detalla el proceso de análisis. Por último, una vez realizadas las medidas en cuestión, se hace un análisis de los valores alcanzados. Con estos valores se hace un seguimiento a los objetivos planteados, se confeccionan unas conclusiones y se proponen trabajos futuros con el fin de mejorar el Pasibot y hacer del mismo una realidad tangible. _____________________________________________________________________________________________________________
The Project in question “Estudio del comportamiento de los CDM de los elementos básicos del bípedo Pasibot” focuses on the analysis of the design of a robot. The focus is on the process of the creation and development of the robot Pasibot. Within the project, there is a time line exposition throughout the world of robotics, detailing which have been the origins, distinguishing what are the different robot types and focusing on which type encloses our robot. Once situated in the corresponding work plane, it is time to get into details relating to what Pasibot is in reality: a biped robot with only one degree of freedom. This robot tries to simulate the human gait in the simplest manner possible. The geometrical elements that make the robot possible, such as the Chebyshev, stabilizer and the extension, are explained in detail in this process. Finally, once the measurements in question have been finished, an analysis of the data in detail is exposed. With these values and the stated analysis, we make an approach towards the proposed objectives, conclusions are stated, and to finish off, future projects are proposed in order to improve the Pasibot and make it a tangible reality.
The Project in question “Estudio del comportamiento de los CDM de los elementos básicos del bípedo Pasibot” focuses on the analysis of the design of a robot. The focus is on the process of the creation and development of the robot Pasibot. Within the project, there is a time line exposition throughout the world of robotics, detailing which have been the origins, distinguishing what are the different robot types and focusing on which type encloses our robot. Once situated in the corresponding work plane, it is time to get into details relating to what Pasibot is in reality: a biped robot with only one degree of freedom. This robot tries to simulate the human gait in the simplest manner possible. The geometrical elements that make the robot possible, such as the Chebyshev, stabilizer and the extension, are explained in detail in this process. Finally, once the measurements in question have been finished, an analysis of the data in detail is exposed. With these values and the stated analysis, we make an approach towards the proposed objectives, conclusions are stated, and to finish off, future projects are proposed in order to improve the Pasibot and make it a tangible reality.
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Keywords
Robótica, Biomecánica, Robots bípedos