Transición entre tipos de locomoción de un robot cuadrúpedo articulado

dc.contributorHernandez Riveros, Jesus Antonio
dc.contributorUniversidad Nacional
dc.contributorGrupo de Investigación en Inteligencia Computacional
dc.creatorRico Mesa, Edgar Mario
dc.date.accessioned2020-09-14T14:21:59Z
dc.date.accessioned2022-09-21T16:52:40Z
dc.date.available2020-09-14T14:21:59Z
dc.date.available2022-09-21T16:52:40Z
dc.date.created2020-09-14T14:21:59Z
dc.date.issued2019-07-15
dc.identifierRico 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,
dc.identifierhttps://repositorio.unal.edu.co/handle/unal/78456
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/3396196
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.
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.
dc.languagespa
dc.publisherMedellín - Minas - Doctorado en Ingeniería - Sistemas
dc.publisherUniversidad Nacional de Colombia - Sede Medellín
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dc.rightsAtribución-NoComercial 4.0 Internacional
dc.rightsAcceso abierto
dc.rightshttp://creativecommons.org/licenses/by-nc/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsDerechos reservados - Universidad Nacional de Colombia
dc.titleTransición entre tipos de locomoción de un robot cuadrúpedo articulado
dc.typeOtros


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