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Algo de Geometría para Humanoides

Algo de Geometría para Humanoides


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About the Book

Este libro quiere ser una herramienta para todos los involucrados en la investigación y desarrollo de aplicaciones para la robótica con humanoides. La premisa que justifica esta publicación es que la abstracción ahorra tiempo a largo plazo, a cambio de una inversión inicial de esfuerzo para utilizar herramientas matemáticas algo más sofisticadas, como las técnicas de la Teoría de Tornillos y Álgebras de Lie.Los humanos crean entornos adecuados para ser habitados por ellos mismos, por lo que un robot humanoide avanzado sería sin duda uno los instrumentos mejor adaptados para proporcionar servicios a las personas. Sin embargo, todavía nos encontramos lejos de una producción comercial de humanoides fiables, porque los desafíos científicos y tecnológicos son enormes.Como contribución al desarrollo de la robótica desde una perspectiva geométrica, el objetivo fundamental de este trabajo es la resolución de la Cinemática, la Locomoción, la Cartografía, la Planificación de Trayectorias y la Navegación para robots humanoides. El nuevo algoritmo "Un Paso Adelante" (UPA), resuelve el movimiento bípedo basándose en el nuevo modelo "División Cinemática Sagital" (DCS), que da soluciones geométricas cerradas al problema cinemático inverso de un humanoide con muchos grados de libertad. El nuevo algoritmo "Método Modificado de Marcha Rápida" (M3R) proporciona caminos libres de colisiones para resolver problemas de planificación de movimientos del robot. Para la cartografía xy navegación se introduce el nuevo modelo "Trayectoria Corporal Global" (TCG). Se incluyen algoritmos para la resolución de los problemas de dinámica, entre los que están nuevas definiciones para la "Matriz de Gravedad" (i.e. simbólica, algebraica y wrench).Estos novedosos desarrollos se han probado en simulaciones y experimentos con el humanoide RH0 de la Universidad Carlos III de Madrid.


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Product Details
  • ISBN-13: 9781795591263
  • Publisher: Independently Published
  • Publisher Imprint: Independently Published
  • Height: 254 mm
  • No of Pages: 310
  • Series Title: Screw Theory for Robotics
  • Sub Title: Teoría de Tornillos para Robótica
  • Width: 203 mm
  • ISBN-10: 1795591269
  • Publisher Date: 10 Feb 2019
  • Binding: Paperback
  • Language: Spanish
  • Returnable: N
  • Spine Width: 21 mm
  • Weight: 906 gr


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