Robot salamandra anfibio con locomoción bioinspirada

Robotics amphibious salamander with bio-inspired locomotion

Wilbert G. Aguilar, Marco A. Luna, Julio F. Moya, Vanessa Abad

Resumen


En este artículo se presenta el desarrollo de un robot anfibio con una dinámica de movimiento bioinspirada en la locomoción de la salamandra (Cryptobranchidae). El robot es teleoperado mediante una aplicación para dispositivos móviles (Smartphones, tablets, etc.). Se propone una estructura que permita al robot llevar a cabo dos acciones: caminar y nadar. Los movimientos de una salamandra real se han estimado basándose en una cámara cenital y se ha diseñado un algoritmo de control de locomoción que replique esos movimientos. El desempeño del robot se ha evaluado utilizando como métrica el error cuadrático medio entre el movimiento del robot y de la salamandra obteniendo errores menores al 5 % en los ángulos de movimiento de la espina dorsal.


Palabras clave


Cinemática, Locomoción, Robótica, Robots anfibios, Salamandra

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Referencias


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Shutterstock, "Salamander walks across white surface, shot from above", in Vibe Images, [En línea]. Disponible en: http://www.shutterstock.com/es/video/clip-8807212-stock-footage-salamander-walks-across-white-surface-shot-from-above.html?src=rel/8807005:1/gg.




DOI: http://dx.doi.org/10.17163/ings.n17.2017.07

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