Simulador para la locomoción de un robot cuadrúpedo

Abstract

This document describes the development of the technology degree project in electronics, whose purpose was to develop a tool that facilitated the evidence the behavior of the center of mass in a quadrupedal robot in displacement, capacity in its elaboration, an application in which a user can enter the variables of length and mass of the model and this will return the behavior of the march selected to simulate, with the behavior of the center of mass of the entire structure, without counting any force caused by the movement, that is, only the static will be evaluated of the model. The application provides visualization of the locomotion as well as the center of mass, managing to help predict positions in which the simulation has a more or less balance in its displacement.