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Definición Y Análisis De Los Modos De Marcha De Un Robot Hexápodo Para Tareas De DEFINICIÓN Y ANÁLISIS DE LOS MODOS DE MARCHA DE UN ROBOT HEXÁPODO PARA TAREAS DE BÚSQUEDA Y RESCATE Jorge Rivas De León SEPTIEMBRE 2015 TRABAJO FIN DE MASTER Jorge De León Rivas PARA LA OBTENCIÓN DEL TÍTULO DE MASTER EN DIRECTOR DEL TRABAJO FIN DE MASTER: AUTOMÁTICA Y ROBÓTICA Dr. Antonio Barrientos Cruz ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES MÁSTER EN AUTOMÁTICA Y ROBÓTICA Trabajo fin de máster Definición y análisis de los modos de marcha de un robot hexápodo para tareas de búsqueda y rescate Tutor: Dr. Antonio Barrientos Cruz Alumno: Jorge De León Rivas M13165 Curso 2014/2015 Página dejada intencionadamente en blanco Dedicado a mi abuela Antonia, que siempre que la volví a visitar se acordaba y cuidaba de “su niño”. Página dejada intencionadamente en blanco Índice general Lista de figuras II Lista de tablas VI Agradecimientos IX Resumen XI 1. Introducción 1 1.1. Marco y objetivos . 1 1.2. Motivación . 1 1.3. Logros y aportaciones . 2 1.4. Estructura de la memoria . 2 2. Estado del arte 5 2.1. Tareas de los robots de rescate . 7 2.1.1. AAAI Mobile Robot Competition . 9 2.1.2. RoboCup . 9 2.2. Tipos de robots de rescate . 11 2.3. Características de los desastres y su impacto en el diseño de los robots . 12 2.3.1. Categorias y fases de los desastres . 13 2.4. Robots empleados en desastres . 17 2.4.1. Robots de rescate en las Torres Gemelas . 20 2.4.2. Deslizamiento de tierra en La Conchita . 23 2.4.3. Huracán Katrina . 25 2.4.4. Mina Sago . 27 2.4.5. Huracán Ike . 29 2.5. Bioinspiración . 31 2.5.1. Bioinspiración en hexápodos . 32 2.6. Interacción Humano-Robot, HRI . 40 2.6.1. Categoría ecológica . 40 2.6.2. Categoría social . 41 2.7. Consideraciones en el diseño de robots . 41 2.7.1. Movilidad . 41 2.7.2. Comunicaciones . 42 ÍNDICE GENERAL 2.7.3. Control . 42 2.7.4. Sensores . 43 2.7.5. Energía . 43 3. Modelado de las “C-Legs” 45 3.1. Cinemática de las “C-legs” . 45 3.1.1. Consideraciones del modelo . 46 3.1.2. Modelo cinemático . 47 3.2. Dinámica de las “C-Legs” . 56 3.2.1. Sistemas dinámicos híbridos . 57 3.2.2. El modelo SLIP . 57 3.2.3. Ecuaciones del movimiento . 60 4. Definición y evaluación de modos de marcha 63 4.1. Patrones de locomoción . 64 4.2. Superación de obstáculos y escalada . 64 4.3. Nuevos modos de marcha: . 65 4.4. Medida de estabilidad estática en robots caminantes . 67 4.5. Ecuaciones del movimiento . 69 4.5.1. Trípode alterno . 73 4.5.2. Tetrápoda . 75 4.5.3. Onda . 77 4.5.4. Nuevo modo 1 . 78 4.5.5. Nuevo modo 2 . 80 4.6. Pruebas realizadas . 81 4.6.1. Pruebas realizadas en ROS y Gazebo . 81 4.6.2. Pruebas realizadas con una maqueta . 88 5. Diseño del robot 93 5.1. Diseño mecánico . 93 5.1.1. Diseño del cuerpo . 93 5.1.2. Ensamblaje de los motores . 96 5.2. Selección de los motores . 96 5.3. Sistemas eléctricos . 100 5.3.1. Controladora principal . 100 5.3.2. Drivers de los motores . 101 5.3.3. Baterías . 102 5.3.4. Diseño de las patas . 104 5.3.5. Diseño de las “Compass leg” ......................105 5.3.6. Diseño de las “C-legs” .........................106 6. Planificación temporal y presupuesto 107 6.1. Planificación temporal . 107 6.2. Presupuesto . 109 IV Escuela Técnica Superior de Ingenieros Industriales. UPM Definición y análisis de los modos de marcha de un robot hexápodo para tareas de búsqueda y rescate. 7. Conclusiones y líneas futuras 111 7.1. Conclusiones . 111 7.2. Líneas futuras . 112 Bibliografía 113 Jorge De León Rivas. M13165 i Página dejada intencionadamente en blanco Índice de figuras 2.1. Áreas de trabajo en una catástrofe. 7 2.2. Logo de la AAAI Mobile Robot Competition. 9 2.3. Logo de la RoboCup 2015 en alemania. 10 2.4. Clasificación de los robots según el medio en el que se desenvuelven. 11 2.5. Clasificación de los robots según su tamaño. 12 2.6. Catástrofes naturales acontecidas en 2011 . 14 2.7. Conflictos activos en todo el mundo. 16 2.8. Logo de CRASAR e IRSU. 20 2.9. Diagrama del ataque realizado a las Torres Gemelas. 21 2.10. Primeros robots desplegados en el WTC. a) Microtracs. b) Inuktun micro- VGTV. c) F-M Solem. 22 2.11. Zona afectada en La Conchita. 23 2.12. VGTV Xtreme desplegado. 24 2.13. Zonas afectadas por el Huracán Katrina. 25 2.14. a) UAV de ala fija. b) UAV de ala rotatoria iSENSYS IP3 . 25 2.15. Vuelos de inspección realizados tras el huracán Katrina. 26 2.16. Localización de la mina Sago. 27 2.17. Robot Remotec ANDROS Wolverine. 29 2.18. Zonas afectadas por el Huracán Ike. 29 2.19. USV SeaRAI inspeccionando cerca del puente Rollover Pass. 30 2.20. Esquema de desplazamiento de trípode alterno. 32 2.21. Esquema de arquitecturas de control. 33 2.22. Robot DIGbot. 33 2.23. Robot LAURON I. 34 2.24. Robot LAURON IV. 35 2.25. Robot Stiquito y su desplazamiento. 36 2.26. Robot PROLERO. 37 2.27. Robot WHEGS I. 37 2.28. Robot MINI WHEGS superando un obstáculo. 38 2.29. Distintas versiones del RHex, ordenadas de izquierda a derecha y de arriba a abajo. 40 3.1. Posición en el suelo . 46 3.2. Posición de espera de órdenes . 46 ÍNDICE DE FIGURAS 3.3. Diagrama de la pata . 48 3.4. Diagrama planar del hexápodo. 50 3.5. Modelo de entradas y salidas del sistema. 52 3.6. Nueva posición del robot. 55 3.7. Detalle para el cálculo de la distancia entre el robot y el suelo. 56 3.8. Diagrama de comprobación que debe realizar el sistema para el cambio de fase. ....................................... 58 3.9. Diagrama del artículo de P. Holmes et al. 59 3.10. Diagrama de la pata y las variables para el sistema. 61 3.11. Diagrama de la pata y las variables para las ecuaciones del movimiento. 62 4.1. Clasificación de los hexápodos según sus patas. 63 4.2. Esquema de nuestro hexápodo. 64 4.3. Modelos de marcha. (De arriba a abajo: Trípode, tetrápoda y onda) . 65 4.4. Nuevos modelos de marcha. 66 4.5. Margen de estabilidad para el robot en posición de espera de órdenes. 68 4.6. Margen de estabilidad para el robot en marcha de trípode alterna. 69 4.7. Margen de estabilidad para el robot en marcha de tetrápoda con dos patas exteriores en el aire. 70 4.8. Margen de estabilidad para el robot en marcha de tetrápoda con una pata intermedia en el aire. 71 4.9. Margen de estabilidad para el robot en la nueva marcha de cuatro patas diseñada. ..
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