Implementación y control de locomoción de un prototipo de robot salamandra de bajo costo

Abstract

This project describes the design and implementation of a prototype robot inspired by the salamander P. Walt, with the aim of partially replicating its terrestrial locomotion. This work is a continuation of Daniel Hernandez's project entitled "Diseño y simulación de un robot inspirado en las salamandras capaz de imitar parcialmente su locomoción". Due to budget constraints, all components were redesigned to utilize more cost-effective options. The design process began with the selection of essential electronic components, including position and orientation sensors, actuators for precise movements, and a processing unit to coordinate the robot's signals and operations. The choice of a suitable power system, with high-capacity batteries, was crucial to ensure continuous and efficient operation. Additionally, the necessary power units were selected and designed to provide the required energy to the actuators. Simultaneously, the mechanical parts of the robot were developed using materials compatible with 3D printing, allowing for the flexible and cost-effective fabrication of customized components. This included the robot's structure, joints, and the necessary parts to support its salamander-inspired locomotion. The next phase of the project focused on selecting the kinematic locomotion model. A suitable model was chosen to emulate the salamander's motion, adjusting it to ensure compatibility with the selected electronic components. This step was crucial for achieving smooth and controlled motion of the robot. Regarding the software, a programming language that could be implemented in the processing unit was selected, enabling the control of the robot and the execution of the kinematic locomotion model. The developed code needed to be flexible for future improvements and expansions, as well as for the effective integration of sensors and other components. Finally, a 2D position control system was designed using the sensors incorporated into the robot. This system allowed the robot to maintain its trajectory and position during locomotion, adjusting and correcting movement in real-time to ensure stability and precision.