| Revue: | Computación y sistemas |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000423232 |
| ISSN: | 1405-5546 |
| Autores: | Domínguez Guerrero, Josué1 Sepúlveda, Roberto1 Montiel, Oscar1 Castillo, Oscar2 |
| Instituciones: | 1Instituto Politécnico Nacional, Centro de Investigación y Desarrollo de Tecnología Digital, Tijuana, Baja California. México 2Instituto Tecnológico de Tijuana, Tijuana, Baja California. México |
| Año: | 2017 |
| Periodo: | Abr-Jun |
| Volumen: | 21 |
| Número: | 2 |
| País: | México |
| Idioma: | Español |
| Tipo de documento: | Artículo |
| Enfoque: | Experimental, aplicado |
| Resumen en español | In this paper, an innovative method to find the workspace of a hexapod mobile robot is presented. Differently, to the current state of the art methods that allows to determine the working spaces for walking in straight line, the proposed method allows estimating the optimal set of configurations for walking in any viable direction. The method takes advantage of the existing similitudes between the hexapod and the Delta robot during the tripod walk; however, there are some movement restrictions between them, which were conveniently solved by handling them as a multiobjective optimization problem. Particularly, the MOEA/D algorithm was used to solve the problem |
| Disciplinas: | Ingeniería, Ciencias de la computación |
| Palabras clave: | Ingeniería biónica y cibernética, Robots móviles, Espacio de trabajo, Optimización multiobjetivo, Marcha, Algoritmos evolutivos |
| Keyword: | Bionics and cybernetics, Mobile robot, Workspace, Multiobjective optimizing, Gait, Evolutionary algorithms |
| Texte intégral: | Texto completo (Ver HTML) Texto completo (Ver PDF) |
