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Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática

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Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática

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dc.contributor.author Martín Barrio, Andrés es_ES
dc.contributor.author Terrile, Silvia es_ES
dc.contributor.author Barrientos, Antonio es_ES
dc.contributor.author del Cerro, Jaime es_ES
dc.date.accessioned 2020-05-08T09:18:12Z
dc.date.available 2020-05-08T09:18:12Z
dc.date.issued 2018-09-24
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/142825
dc.description.abstract [ES] Los robots hiper-redundantes son aquellos que tienen un número muy elevado de grados de libertad. En su uso cotidiano, la redundancia es referida para indicar una repetición o un uso excesivo de un concepto. En el campo de la robótica, la redundancia puede ofrecer numerosos beneficios frente a los robots convencionales. Los robots hiper-redundantes poseen una mayor habilidad para sortear obstáculos, son tolerantes a fallos en algunas de sus articulaciones y también pueden ofrecer ventajas cinemáticas. En este artículo se presentan los conceptos generales para entender este tipo de robots, así como una clasificación de los mismos, su potencial, su problemática y su evolución a lo largo de la historia. es_ES
dc.description.abstract [EN] Hyper-redundant robots are characterized by having a high number of degrees of freedom. The word redundant is commonly used to mean a repetition or excess of a concept. In the robotics scope, redundancy offers numerous advantages against traditional robots. Hyper-redundant robots provide better skills to avoid obstacles, they are fault-tolerant in some of their joints and exhibit kinematic advantages. This article presents general concepts to understand this kind of robots as well as a classification, their potential, drawbacks and an analysis of their evolution throughout their history. es_ES
dc.description.sponsorship Este trabajo es resultado de las actividades de investigación llevadas a cabo en el Centro de Automática y Robótica (CARUPM-CSIC) de la Universidad Politécnica de Madrid (España), en el seno del grupo de investigación de Robótica y Cibernética (RobCib). Las actividades se enmarcan en los proyectos RoboCity2030-III-CM (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748) y en el proyecto DPI2014-56985-R (Protección Robotizada de Infraestructuras Críticas) financiado por el Ministerio de Economía y Competitividad del Gobierno de España. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Robots es_ES
dc.subject Manipuladores redundantes es_ES
dc.subject Cinemática de robots es_ES
dc.subject Clasificación es_ES
dc.subject Robotic systems es_ES
dc.subject Robot kinematics es_ES
dc.subject Underactuated systems es_ES
dc.subject Hyper-redundant robots es_ES
dc.subject Continuous robots es_ES
dc.subject Soft robots es_ES
dc.title Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática es_ES
dc.title.alternative Hyper-Redundant Robots: Classification, State-of-the-Art and Issues es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2018.9207
dc.relation.projectID info:eu-repo/grantAgreement/CAM//S2013%2FMIT-2748/ES/Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III (RoboCity2030-III-CM)/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2014-56985-R/ES/PROTECCION ROBOTIZADA DE INFRAESTRUCTURAS CRITICAS/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Martín Barrio, A.; Terrile, S.; Barrientos, A.; Del Cerro, J. (2018). Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática. Revista Iberoamericana de Automática e Informática industrial. 15(4):351-362. https://doi.org/10.4995/riai.2018.9207 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2018.9207 es_ES
dc.description.upvformatpinicio 351 es_ES
dc.description.upvformatpfin 362 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 15 es_ES
dc.description.issue 4 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\9207 es_ES
dc.contributor.funder Universidad Politécnica de Madrid es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
dc.contributor.funder Comunidad de Madrid es_ES
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