Diseño y modelado de bípedo rodante con mecanismo de extremidad superior

Abstract

This document develops the first stage in the design of a proposal to reduce the amount of garbage present in green areas and urban areas. First, options for the morphology of the robot are proposed, describing its characteristics, advantages and disadvantages. Then, dynamic and kinematic control models of the robot's actuators and structures are developed, as well as the robot's navigation control, with the latter experiments are carried out and results are shown. In all models, a recursive control system is proposed. Finally, the need to develop a dynamic balance model is raised due to the morphology of the robot.