LA CORRIENTE ELECTRICA COMO UN PARÁMETRO CLAVE EN LA LOCOMOCIÓN DE UN ROBOT CUADRÚPEDO

摘要

In the field of the quadruped robots is important to researchers knowing the parameters that affect the robot gait, this paper is focused to know these parameters and the relations between them to find common parameters that include the parameters with more impact. Here, we have considered the parameters from more impact are gravity center (GC) inside the support polygon (SP) and the geometric pattern (GP), these parameters affect the electric current in direct proportion. This paper has identified the parameters of locomotion and was concluded that measuring the electric current will let determine the speed of locomotion, straight-ahead and stability of the robot, also will evaluate to use the electric current as electric current identifier to design the control system. The present research is the beginning to solve the locomotion of a quadruped robot using Bio inspired algorithms in an embedded system.