Diseño y simulación de un robot inspirado en las salamandras capaz de imitar parcialmente su locomoción

Abstract

This document shows the design and simulation of a robot inspired by the salamander Pleurodeles Walt, which has the ability to partially reproduce the locomotion of a salamander. To do this, first, it is necesary to learn about the morphology and locomotion of salamanders, through a search in scientific knowledge databases. With the data obtained, we proceed to the design of a robot prototype, which structure closely imitates the movements of a salamander. Afterwards, the kinematic models that are typically used to emulate salamander locomotion are analyzed, in order to select one that allows coordinating the movements of the robot joints as the real salamander does, maintaining a balance between the level of abstraction of the model and the ability to reproduce different locomotion modes. After that, the selection process of the electronics and mechanical components is carried out, based on the design criteria of the robot and the operation requirements of the locomotion kinematic model. The software tools used for the kinematic simulation of the robot are explored, in order to select one, to perform the simulation of the robot in the terrestrial and aquatic environments. In addition, the necessary approximations are made to give a better detail to the kinematic simulations of the robot, taking into account aspects such as the shape and weight of the physical components of the robot and the behavior of the actuators. Finally, a set of simulation tests is proposed to determine the robot's movement capacity in the terrestrial and aquatic environment, as well as its similarity to the real salamander.