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DC Field | Value | Language |
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dc.contributor.author | Minchala Avila, Luis Ismael | - |
dc.contributor.author | Astudillo Salinas, Darwin Fabian | - |
dc.contributor.author | Vazquez Rodas, Andres Marcelo | - |
dc.date.accessioned | 2019-02-06T16:54:54Z | - |
dc.date.available | 2019-02-06T16:54:54Z | - |
dc.date.issued | 2018 | - |
dc.identifier.isbn | 978-153865490-3 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | http://dspace.ucuenca.edu.ec/handle/123456789/31930 | - |
dc.identifier.uri | https://www.scopus.com/record/display.uri?eid=2-s2.0-85058030370&doi=10.1109%2fINTERCON.2018.8526395&origin=inward&txGid=ef910d36df5d1dcb6806c4980521a139 | - |
dc.description | This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms. © 2018 IEEE. | - |
dc.description.abstract | This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms. © 2018 IEEE. | - |
dc.language.iso | es_ES | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.source | Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018 | - |
dc.subject | Biped | - |
dc.subject | Control | - |
dc.subject | Gait | - |
dc.subject | Robot | - |
dc.title | a simple mapping methodology of gait biomechanics for walking control of a biped robot | - |
dc.type | ARTÍCULO DE CONFERENCIA | - |
dc.description.city | Lima | - |
dc.ucuenca.idautor | 0301453486 | - |
dc.ucuenca.idautor | 0103907036 | - |
dc.ucuenca.idautor | 0301496840 | - |
dc.identifier.doi | 10.1109/INTERCON.2018.8526395 | - |
dc.ucuenca.embargoend | 2050-12-19 | - |
dc.ucuenca.version | Versión publicada | - |
dc.ucuenca.embargointerno | 2050-12-19 | - |
dc.ucuenca.areaconocimientounescoamplio | 07 - Ingeniería, Industria y Construcción | - |
dc.ucuenca.afiliacion | Minchala, L., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador; Minchala, L., Tecnologico de Monterrey, Escuela de Ingeniería y Ciencias, Monterrey, Mexico | - |
dc.ucuenca.afiliacion | Astudillo, D., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador | - |
dc.ucuenca.afiliacion | Vazquez, A., Universidad de Cuenca, Departamento de Ingeniería Eléctrica, Electrónica y Telecomunicaciones(DEET), Cuenca, Ecuador | - |
dc.ucuenca.volumen | noviembre 2018 | - |
dc.ucuenca.indicebibliografico | SCOPUS | - |
dc.ucuenca.numerocitaciones | 0 | - |
dc.ucuenca.areaconocimientofrascatiamplio | 2. Ingeniería y Tecnología | - |
dc.ucuenca.pais | PERU | - |
dc.ucuenca.conferencia | 2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON) | - |
dc.ucuenca.areaconocimientofrascatiespecifico | 2.2 Ingenierias Eléctrica, Electrónica e Información | - |
dc.ucuenca.areaconocimientofrascatidetallado | 2.2.2 Robótica y Control Automático | - |
dc.ucuenca.areaconocimientounescoespecifico | 071 - Ingeniería y Profesiones Afines | - |
dc.ucuenca.areaconocimientounescodetallado | 0714 - Electrónica y Automatización | - |
dc.ucuenca.fechainicioconferencia | 2018-08-08 | - |
dc.ucuenca.fechafinconferencia | 2018-08-10 | - |
dc.ucuenca.organizadorconferencia | UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS | - |
dc.ucuenca.comiteorganizadorconferencia | UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS | - |
dc.ucuenca.urifuente | https://ieeexplore.ieee.org/document/8526395/authors#authors | - |
dc.contributor.ponente | Astudillo Salinas, Darwin Fabian | - |
Appears in Collections: | Artículos |
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documento.pdf Until 2050-12-19 | document | 632.42 kB | Adobe PDF | View/Open Request a copy |
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