Optimización del consumo y locomoción en un robot nao usando algoritmos genéticos

Abstract

The walk of the human being has been the subject of study of many scientists and engineers who have developed strategies and models that will allow to a mechanical structure to mimic and achieve a realistic likeness of this process locomotive, Contreras Bravo, L., & Vargas Tamayo, L. (2005). With strategies like biomechanics McGeer (1990), the mechanical development of Robots has been achieved that can simulate the movement of the human being of its lower extremities and superiors. Already with mathematical models such as those studied by Roa, Máximo Alejandro, Villegas, Camilo, & Garzon-Alvarado, Diego Alexander. (2007) citing McGeer, that represent the different movements, simulations of the displacement and to know how the structure responds to different variables of the process. Such models as the rimless wagon wheel model from which come off the walker with straight legs and walker with knees or the model of the spoked wagon wheel and the McGeer synthetic wheel model (1990), allows to calculate an excellent approximation to the behavior biomechanical from mathematical modeling.