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Documente Cultură
INFORME DE INVESTIGACIN
Autor:
Ing. Guillermo EVANGELISTA ADRIANZN
Asesor:
Mg. Ing. Filiberto AZABACHE FERNNDEZ
Trujillo Per
1 de Abril del 2014
i
Resumen
El presente trabajo de investigacin consta de ocho captulos, los cuales son descritos a
continuacin:
En el segundo captulo, se realiza una descripcin de los aportes encontrados en las pesquisas
a razn de antecedentes y una definicin de conceptos relacionados al proyecto.
Finalmente, en el sexto, sptimo y octavo captulo, se expone las conclusiones del trabajo de
investigacin, recomendaciones a trabajos futuros y las referencias bibliogrficas
relacionadas al proyecto.
ii
Abstract
In the second chapter, the description of the contributions found in the investigations and a
definition of concepts related to robotics is performed.
In the third chapter, a summary of the materials and methods used in this research, and
procedures for the development of the hexapod robotic platform, this by mathematical
modeling of the system, mechanical design, hardware and software.
In the fourth and fifth chapter, present respectively the results of the development and
discussion of them.
Finally, in the sixth, seventh and eighth chapter, the conclusions, recommendations and
bibliographic references related to the project.
iii
NDICE
Pginas
Acreditaciones ii
Presentacin iii
Dedicatoria iv
Agradecimientos v
Resumen vi
Abstract vii
ndice viii
ndice de Tablas x
ndice de Grficos xii
1. INTRODUCCIN
1.1. El problema 2
1.2. Delimitacin del Problema 3
1.3. Caractersticas del problema 3
1.4. Definicin del Problema 4
1.5. Enunciado resumen 4
1.6. Objetivos 4
2. MARCO TERICO
2.1. Antecedentes 6
2.2. Definiciones 7
2.2.1. Robots Caminantes 7
2.2.2. Cinemtica de Manipuladores 11
2.2.3. Dinmica de Manipuladores 12
2.2.4. Locomocin de Movimiento 12
3. MATERIAL Y MTODOS
3.1. Material 15
3.1.1 Poblacin 15
3.1.2. Muestra 15
iv
3.1.3. Unidad de Anlisis 15
3.2. Mtodo 15
3.2.1 Tipo de Investigacin 15
3.2.2. Diseo de Investigacin 16
3.2.3. Variables de estudio y operacionalizacin 16
3.2.4. Instrumentos de recoleccin de Datos 17
3.2.5. Procedimientos 19
4. RESULTADOS 59
5. DISCUSIN DE RESULTADOS 89
6. CONCLUSIONES 91
7. RECOMENDACIONES 93
8. REFERENCIAS BIBLIOGRFICAS 95
ANEXOS:
v
ndice de Tablas
vi
Tabla N 4.16: Fidelidad de Recorrido de la Extremidad 4 - Caminata Cuadrpeda 4+2. 78
Tabla N 4.17: Fidelidad de Recorrido de la Extremidad 5 Caminata Cuadrpeda 4+2. 79
Tabla N 4.18: Fidelidad de Recorrido de la Extremidad 6 - Caminata Cuadrpeda 4+2. 80
Tabla N 4.19: Fidelidad de Recorrido de la Extremidad 1 - Caminata Pentpoda. 82
Tabla N 4.20: Fidelidad de Recorrido de la Extremidad 2 - Caminata Pentpoda. 83
Tabla N 4.21: Fidelidad de Recorrido de la Extremidad 3 - Caminata Pentpoda. 84
Tabla N 4.22: Fidelidad de Recorrido de la Extremidad 4 - Caminata Pentpoda. 85
Tabla N 4.23: Fidelidad de Recorrido de la Extremidad 5 Caminata Pentpoda. 86
Tabla N 4.24: Fidelidad de Recorrido de la Extremidad 6 - Caminata Pentpoda. 87
vii
ndice de Figuras
viii
Figura N 3.27: Software de Control en operacin. 58
Figura N 4.1: Locomocin de la Caminata Trpode 60
Figura N 4.2: Locomocin de la Caminata Cuadrpeda 67
Figura N 4.3: Locomocin de la Caminata Cuadrpeda 4+2 74
Figura N 4.4: Locomocin de la Caminata Pentpoda 81
ix
CAPTULO I
1
1. INTRODUCCIN
1.1. El Problema
Por ello Kuman V. (1989)2 expresa lo siguiente: Por esta razn diseadores de robots
caminantes tratan de imitar a las criaturas de la naturaleza de mltiples patas, debido a que
se logra analizar las particularidades que la evolucin ha realizado mediante procesos
naturales, y con ello plasmar dichos anlisis en diseo de robots que puedan cumplir
determinadas tareas.
De la categora de los robots caminantes, los que presentan mayor estabilidad dinmica,
esttica, y capacidad de maniobrabilidad son los robots hexpodos.
Actualmente existen los conocimientos suficientes para plantear, modelar y validar modelos
robticos mediante simulacin, pero difcilmente estos son plasmados en un modelo real,
esto es debido a la necesidad del manejo de las tecnologas e integracin de las mismas;
tecnologas en reas de la electrnica, telecontrol, diseo mecnico y ramas afines; adems
del tema econmico como el pilar fundamental para la implementacin fsica de cualquier
proyecto. Esto conlleva a la necesidad del manejo y compresin de las ciencias mecnicas,
fsicas, y de tecnologas aplicadas para finalmente plantear alternativas de solucin en el
desarrollo y construccin de plataformas robticas caminantes.
1
Efren G. (2002). Diseando un Robot Caminante de Seis Patas.
2
Kuman V. (1989). A Review of Research on Walking Vehicles.
2
Realizando un anlisis a las caractersticas al problema encontrado, se pudo identificar que
en las pesquisas bibliogrficas y de trabajos de investigacin referidos al tema, solo se
encontr disponible informacin genrica, la cual no es relevante y por ende result difcil
de clasificar (debido a que su contenido no es especializado); as mismo los conocimientos
requeridos para el estudio cinemtico, dinmico, y de locomocin para un robot de estas
caractersticas requiere una base matemtica y fsica que no son cubiertas en los planes de
estudio a nivel de pregrado, por lo que el nivel de la investigacin realizada es limitado. La
necesidad de tener un control sobre el sistema que incluya un modelo cinemtico, dinmico
y de locomocin, conllev a tener ecuaciones bien definidas, los mtodos existentes pueden
lograr de manera independiente soluciones a estos estudios, pero no necesariamente el enlace
entre las mismas, lo cual dificult la seleccin de mtodos apropiados para este fin.
3
Los conocimientos requeridos para el estudio cinemtico, dinmico, y de
locomocin para un robot de estas caractersticas requiere una base matemtica
y fsica que no son cubiertas en los planes de estudio a nivel de pregrado, por lo
que el nivel de las investigaciones que se realicen ser limitado.
1.6. Objetivos
4
CAPTULO II
5
2. MARCO TERICO
2.1. Antecedentes
Habiendo realizado una pesquisa a nivel local y nacional sobre plataformas de investigacin
robticas y mecanismos caminantes, no se encontr informacin relevante que haya sido
publicada, sin embargo, a nivel internacional si se encontr informacin en publicaciones
relacionadas al tema, de lo cual se destaca lo siguiente:
6
Virtual Model Control of a Hexapod Walking Robot
Autor: Ann L. Torres
Institucin: Massachusetts Institute of Technology
Ao: 1996
Aporte al Trabajo de Investigacin: Brind una descripcin sobre cmo se deben
implementar lazos de control en un modelo virtual hexpodo.
2.2. Definiciones
Segn menciona M. Habib (2007)3, los robots caminantes se caracterizan por poseer
sistemas locomotores bioinspirados, por lo cual pertenece a la clasificacin de los
robots zoomrficos. De otro lado, A. Ollero (2001)4, menciona que segn la
clasificacin de los robots mviles, se identifica a los caminantes como robots a
patas; pero en general se puede decir que stos poseen alta capacidad de
desplazamiento sobre superficies irregulares, lo cual es una ventaja significativa
respecto a los robots a ruedas, sin embargo implica una mayor complejidad de control
y un mayor consumo energa (debido a su oposicin a la fuerza de gravedad). En el
compendio de estas clasificaciones se identifican los siguientes modelos:
2.2.1.1. Monpodo
Es aquel robot que posee una sola pata, por lo general utilizado para investigar en
campo de sistemas articulados de juntura rotativa, el modelo ms significante de
este tipo es el robot Raibert (figura 2.1) del Massachusetts Institute of Technology,
en la pgina web del proyecto (MIT)5 se precisa que ste se caracteriza por ser un
modelo planar que busca continuamente un equilibrio dinmico (esto debido a su
naturaleza de mquina de salto).
3
M. Habib (2007), Bioinspiration and Robotics: Walking and Climbing Robots.
4
A. Ollero (2001), ROBTICA: Manipuladores y robots mviles.
5
Pgina web del proyecto (MIT): http://www.ai.mit.edu/projects/leglab/robots/monopod/monopod.html
7
Figura N 2.1: Robot Monpodo Raibert.
Fuente: Pgina web del proyecto (MIT)
2.2.1.2. Bpedo
Robot Bpedo Esttico: Aquel que debe interrumpir su avance al andar para
garantizar el equilibrio.
6
M. Raibert (1986). Legged robots that balance.
7
Pgina web de computer history: http://www.computerhistory.org/collections/catalog/102716353
8
adems de ser medio para el desarrollo de modelos humanoides, se utilizan en
aplicaciones de la robtica de servicios en reas mdicas y de rehabilitacin.
2.2.1.3. Cuadrpedo
Se clasifica como cuadrpedo a aquel robot que posee cuatro patas para
desplazarse (no es lo mismo que tetrpodo), se caracteriza por poseer basta
similitud con algunos seres vivos tales sea: mamferos o reptiles. Uno de los
modelos ms avanzados de los ltimos tiempos es el robot BigDog de la empresa
8
Boston Dynamics (figura 2.3); en la pgina web del proyecto BigDog se
menciona que es un robot todo terreno, el cual camina, corre, sube y lleva cargas
pesadas.
8
Pgina web del proyecto BigDog: http://www.bostondynamics.com/robot_bigdog.html
9
Figura N 2.3: Robot BigDog.
Fuente: Pgina web de Boston Dynamics.
2.2.1.4. Hexpodo
Un robot hexpodo es un vehculo mecnico que camina sobre seis patas, el cual
puede ser estticamente estable (en tres o ms patas) y que tiene una gran cantidad
de flexibilidad en la forma en que se puede mover, si en el caso de que las piernas
fallasen, el robot an es capaz de caminar. Este tipo de caminante se usa para
probar teoras biolgicas sobre la locomocin de insectos, control de motores y
neurobiologa.
9
W. Whittaker (1991), Autonomous Planetary Rover at Carnegie Mellon.
10
Figura N 2.4: Robot Ambler.
Fuente: Pgina web de Carnegie Mellon.
10
J. Craig (2006), Robtica.
11
J. Ramrez (2004), Cinemtica del Robot Industrial.
11
con respecto al sistema base del mismo a partir de los valores de las articulaciones
y los parmetros geomtricos.
Consiste en obtener los valores de las variables articulares para que el efector final
de una cadena cinemtica posea una determinada posicin y orientacin.
La localizacin del robot definida por sus variables articulares o por las
coordenadas de localizacin de su extremo, y sus derivadas: velocidad y
aceleracin.
Las fuerzas y pares aplicados en las articulaciones (o en el extremo del robot).
Los parmetros dimensionales del robot, como longitud, masas e inercias de sus
elementos.
12
A. Barrientos (1997), Fundamentos de Robtica.
13
G. Cuaya (2007), Procesos de Decisin de Markov Aplicados a la Locomocin de Robots Hexpodos.
12
velocidad, direccin, etc. Existen dos fases claramente distinguibles que contribuyen
al movimiento de cada pata del robot: la fase de soporte y la fase de transferencia.
Durante la fase de soporte o apoyo, cada pata debe ser capaz de ejercer cierta fuerza
sobre la superficie en la que se encuentra el robot, de forma ordenada para
proporcionar la fuerza necesaria al cuerpo del robot para as permitirle moverse segn
una trayectoria predeterminada. Despus, durante la fase de transferencia o
transicin, la pata debe desplazarse de forma ordenada hacia el siguiente punto de
soporte para reiniciar la secuencia de movimiento.
13
CAPTULO III
14
3. MATERIAL Y MTODOS
3.1. Material
3.1.1. Poblacin
3.1.2. Muestra
Cinemtica de Extremidades
Cinemtica de la Cabeza
Dinmica de Extremidades
Locomocin de Movimiento.
3.2. Mtodos
Aplicada
15
3.2.2. Diseo de Investigacin
Modelamiento matemtico:
Indicadores:
Distribucin espacial de las extremidades del robot.
16
3.2.4. Instrumentos de Recoleccin de Datos
Donde:
Vnculo:
ngulo de torsin: 1
Distancia de vnculo: 1
14
A. Barrientos (2012), Modelado de Cadenas Cinemticas mediante Matrices de Desplazamiento. Una
alternativa al mtodo de Denavit-Hartenberg
17
Desplazamiento de vnculo:
ngulo de articulacin:
El hardware debe contar con caractersticas mnimas (tabla 3.3) las cuales le
permitan cumplir su funcin dentro de la plataforma, en el caso del control de
actuadores, se debe contar con una tarjeta de control dedicado (denominada servo-
controladora) y como unidad de procesamiento a una entidad denominada Master.
18
Tabla N 3.3: Requerimientos para Hardware de Control
Caracterstica Servo-controladora Master
PWM 16 6
USB 1 1
Serial 1 2 + wireless
Vsource [4.5-9]V [4.5-9]V
Interrupts CCP1,CCP2,RCIE EXINT
Fuente: Elaboracin propia.
3.2.5. Procedimientos
Cada una de las seis extremidades del robot (figura 3.2) se analizar como un
manipulador de 3 grados de libertad; y debido a que estas poseen caractersticas
idnticas (consideraciones de diseo mecnico) bastar con realizar el estudio
cinemtico (figura 3.3) en una de ellas para comprender y reflejar el anlisis en
las dems.
19
(1 , 2 , 3 ). Las variables de las articulaciones son representadas por servomotores
tanto en el diseo mecnico e implementacin.
20
Tabla N 3.4: Parmetros Denavit-Hartenberg para extremidades.
1 1
1 90 1 0
2 0 2 0
3 0 3 0
Fuente: Elaboracin propia.
1
= (1 , ) (0,0, ) (1 , 0,0) ( 1 )
c s 0 0 1 0 0 0 1 0 0 1 1 0 0 0
1 s c 0 0 0 1 0 0 0 1 0 0 0 c 1 s 1 0
= [ ][ ][ ][ ]
0 0 1 0 0 0 1 0 0 1 0 0 s 1 c 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
21
cos 1 0 sin 1 1 cos 1
0 sin 1 0 cos 1 1 sin 1
1 = [ ]
0 1 0 0
0 0 0 1
cos 2 sin 2 0 2 cos 2
1 sin 2 cos 2 0 2 sin 2
2 = [ ]
0 0 1 0
0 0 0 1
cos 3 sin 3 0 3 cos 3
2 sin 3 cos 3 0 3 sin 3
3 = [ ]
0 0 1 0
0 0 0 1
De la matriz anterior, son de inters los factores que determinen la posicin final
de la extremidad (14, 24 y 34), por lo tanto se obtiene:
22
Sea y :
= 3 cos(2 + 3 ) + 2 cos 2 + 1 (3.4)
= 3 sin(2 + 3 ) + 2 sin 2 (3.5)
= tan 1
1 = arctan( ) (3.9)
( 1 )2 + 2 = 3 2 + 2 2 + 22 3 cos 3
(1 )2 +2 2 2 3 2
3 = (3.12)
22 3
23
En la ecuacin 3.13, se considera las posibles respuestas con signo de 3 , esto
genera un cambio de signo en 2 y por ende otra direccin de trayectoria para la
cadena cinemtica articulada:
1cos2 3
3 = arctan ( ) (3.13)
cos 3
2 + 2 + 2 +1 2 2 2 3 2 21 2 + 2
3 = arccos ( ) (3.14)
22 3
( 1 ) c 2 + s 2 = 3 (c(2 + 3 ) c 2 + s(2 + 3 ) s 2 ) + 2
1
cos 2 + sin 2 = 1
3 cos 3 + 2 3 cos 3 + 2
Despejando 2 , se obtiene:
3 sin 3
2 = arcsin ( ) arctan ( ) (3.15)
2 + 2 + 2 +1 2 21 2 + 2 2 +3 cos 3
24
3.2.5.6. Cinemtica Directa de la Cabeza
25
Matriz de transformacin final:
= 0 = 01 12 , =2
c 1 2 c 2 s 1 s 1 c 1 (2 c 2 + 1 )
0 s c s 1 s 2 c 1 s 1 (2 c 2 + 1 )
2 = [ 1 2 ]
s 2 c 2 0 2 s 2
0 0 0 1
1 = arctan( ) (3.24)
26
Reemplazando (3.19) en la igualdad de (3.25):
2 + 2 = 2 cos 2 + 1
2 + 2 1
cos 2 = (3.26)
2
2 = tan1 ( ) (3.28)
( + 2 1 )
2
= ( ) (3.29)
15
K. Fu (1987), ROBOTICS: Control, Sensing, Vision and Intellingence.
27
Donde:
Rotacin alrededor del eje 1 un ngulo
Traslacin a lo largo del eje 1, una distancia , vector
Traslacin a lo largo de una distancia 1 , vector 1 (1 , 0,0)
: Lagrangiano ( = )
: Energa cintica
: Energa potencial
: Fuerzas no conservativas generalizadas
: Longitud del eje al centro de masa del eje
: Longitud del eje al eje + 1
: Coordenada generalizada
: Masa Total . Masa del servomotor ms la masa de la extremidad.
Clculo de 1 :
Las posiciones cartesianas estn dadas por las siguientes expresiones:
1 = 1 cos 1 (3.30)
1 = 1 sin 1 (3.31)
1 = 0 (3.32)
Expresin de velocidad:
2 = 2 + 2 (3.33)
12 = (1 sin(1 ) 1 )2 + (1 cos(1 )1 )2
12 = [(sin 1 )2 + (cos 1 )2 ](1 1 )2
12 = (1 1 )2 (3.34)
28
Aplicando (3.35) al sistema 1 y considerando 1 = 1 , se obtiene:
1 1
1 = 2 (1 )12 + 2 (1 )1 2 (3.36)
1
1 = 2 1 2 (1 1 2 + 1 ) (3.37)
1 (1 2 ) (1 2 )
1 = (1 1 2 + 1 ) ( ( ) )
2 1 1
1
1 = 2 (1 1 2 + 1 ) [ (2 1 )]
1
1 = 2 (1 1 2 + 1 )(2 1 )
29
1 = 1 (1 1 2 + 1 ) (3.43)
Clculo de 2 :
2 = cos 1 (1 + 2 cos 2 ) (3.44)
2 = sin 1 (1 + 2 cos 2 ) (3.45)
2 = 2 sin 2 (3.46)
22 = (s 1 (1 + 2 c 2 )1 )2 + (c 1 (1 + 2 c 2 )1 )2
+ (2 s 2 c 1 2 )2 + (2 s 2 s 1 2 )2
+ 2(s 1 (1 + 2 c 2 )1 )(2 s 2 c 1 2 )
2(c 1 (1 + 2 c 2 )1 )(2 s 2 s 1 2 )
2
22 = ((1 + 2 cos 2 )1 ) + (2 sin 2 2 )2 (3.48)
30
2 = 2 2 sin 2 (3.51)
Aplicando (3.40) al sistema 2, se obtiene:
2 = 2 2 (3.52)
2 2 sin 2 (3.53)
1 2 1
2 2 s 2 )) ( 2 (((1 + 2 c 2 )1 ) + (2 s 2 2 )2 ) + 2 2 2
2 2 2
2 2 s 2 )
1
2 = (2 2 2 s 2 (2 ) 2 + 2 2 ) + 2 2 2 s(22 ) 1 2
2
1 2
+ 2 1 2 s 2 1 2 2 2 2 2 s(22 ) 2 + 2 2 c 2
1 2
2 = 2 2 2 sin(22 ) 2 + 2 2 2 sin2 (2 ) 2 + 2 2 + 2 2 2 2 sin(22 ) 1
1 2
+2 1 2 sin 2 1 2 2 2 2 2 sin(22 ) 2 + 2 2 cos 2 (3.54)
Clculo de 3 :
3 = cos 1 (3 cos(2 + 3 ) + 2 cos 2 + 1 ) (3.55)
3 = sin 1 (3 cos(2 + 3 ) + 2 cos 2 + 1 ) (3.56)
3 = 3 sin(2 + 3 ) + 2 sin 2 (3.57)
31
Derivando y Remplazando (3.55) y (3.56) en (3.58):
32 = ( s 1 (3 c(2 + 3 ) + 2 c 2 + 1 )1 c 1 (3 s(2 + 3 )(2 +
2
3 ) + 2 s 2 2 )) + (c 1 (3 c(2 + 3 ) + 2 c 2 + 1 )1 s 1 (3 s(2 +
2
3 )(2 + 3 ) + 2 s 2 2 ))
2
32 = ((3 c(2 + 3 ) + 2 c 2 + 1 )1 )
+(3 s(2 + 3 )(2 + 3 ) + 2 s 2 2 )2 (3.59)
1
3 ))2 ) + 2 3 3 2 )) (3 2 3 c 2 c(2 + 3 )1 2 +
3
32
1
3 1 3 c(2 + 3 )1 2 + 2 3 (3 c(2 + 3 )1 )2 )
1 1
(2 3 (22 3 s 2 s(2 + 3 )(2 + 3 )2 ) + 2 3 (3 s(2 + 3 )(2 +
3
3 ))2 3 3 s(2 + 3 ))
1
3 = (3 2 3 s 2 s(2 + 3 )2 + 2 3 (3 s(2 + 3 ))2 (2 2 + 2 3 ) +
3 3 ) + 3 2 3 c 2 s(2 + 3 ) 1 2 + 3 1 3 s(2 + 3 ) 1 2 +
1
3 (3 1 )2 s 2(2 + 3 ) 3 (2 3 (2 + 3 ) s 2 c(2 + 3 ) 2 )
2
1 2
3 (3 (2 + 3 )) s 2(2 + 3 ) + 3 3 c(2 + 3 )
2
3 ) (3.65)
33
3.2.5.10. Locomocin de Movimiento
a. Trayectoria de Paso
Fase de Soporte:
S. Shekhar (2009)16 menciona: La extremidad realiza un ciclo de
soporte o apoyo en contacto con la superficie de desplazamiento,
formulada por la ecuacin de un movimiento lineal o trapezoidal.
Fase de Traslacin:
La extremidad realiza un ciclo de traslacin u oscilacin sobre la
superficie de desplazamiento, formulada por la ecuacin de un
movimiento parablico o de un polinomio de grado n.
b. Locomocin de Movimiento
16
S. Shekhar (2009), Analysis of Six-legged Walking Robots.
34
Factor de Trabajo (): Es la relacin entre el periodo de soporte y periodo
de paso, donde:
= (3.67)
c. Tipos de Caminata
35
Prieto (2008)17 menciona que: Cuando son adoptadas del ser vivo en el cual
han sido inspirado, se denomina enfoque biolgico, el cual se basa en los
Generadores Centrales de Patrones (CPG); y cuando son creadas de manera
artificial (Fsica y Ecuaciones Cinemticas) se le denomina enfoque clsico.
17
A. Prieto-Moreno (2008), Estudio de la locomocin de un robot cuadrpedo mediante la generacin de
patrones.
18
T. Lee (1988), On the Stability Properties of Hexapod Tripod Gait.
36
Caractersticas:
= 12 en cada una de las extremidades
La longitud de trazo es de la longitud de paso
Presenta un tringulo issceles como polgono de soporte
La caminata es peridica, simtrica y regular.
Caractersticas:
= 23 en cada una de las extremidades
La longitud de trazo es de la longitud de paso
Presenta un cuadriltero como polgono de soporte
La caminata es peridica, no es simtrica y es regular.
19
N. Martnez (2003), Robot Hexpodo.
20
L. Yu (2010), Gait Analysis and Implementation of a Simple Quadruped Robot.
37
Tabla N 3.9: Fases de la Caminata Cuadrpeda 4+2.
Etapa Soporte Traslacin
1 2 -3 -4 -5 1-6
2 1-2 -3 -5 -6 4
3 1-3 -4 -6 2 -5
4 1-2 -4 -5 -6 3
Fuente: Elaboracin propia.
Caractersticas:
= 34 en cada una de las extremidades
La longitud de trazo es de la longitud de paso
Presenta un cuadriltero como polgono de soporte en la etapa 1 y 3
Presenta un pentgono como polgono de soporte en la etapa 2 y 4
La caminata es peridica, no es simtrica y es regular.
21
G. Clark (2006), Gaits and Gait Transitions for Legged Robots.
38
Caractersticas:
= 56 en cada una de las extremidades
La longitud de trazo es de la longitud de paso
Presenta un pentgono como polgono de soporte
La caminata es peridica, no es simtrica y es regular.
d. Formulacin de Anlisis
Trayectoria de Paso
Para el desplazamiento en caminata de los cuatro tipos propuestos, se
presenta en la figura 3.7 una trayectoria de paso para el efector final:
39
Donde:
0 : Offset de origen en
0 : Offset de origen en
0 : Offset de origen en
0 : Punto medio en cada fase
: Altura mxima en la fase de traslacin
: Longitud del paso [cm]
: Intervalo de iteracin
: ngulo de deriva [0, 180].
Fase de Traslacin
En el eje vertical se tiene una trayectoria de ecuacin parablica:
( )2 = 4( ) (3.68)
Donde:
: Coordenada en el eje horizontal
: Coordenada en el eje vertical
(, ) : Vrtice de la parbola
: Distancia focal.
Eje Vertical :
Eje Horizontal :
Vrtice : (0 , + 0 )
Puntos parbola : (0 4 , 0 ) & (0 + 4 , 0 )
40
Reemplazando el vrtice y uno de los puntos parbola en la ecuacin (3)
se obtiene el foco, y despejando Z de la ecuacin parablica, resulta:
16(0 )2
= [ 0 ]
2
= +
Donde:
: Coordenada en el eje horizontal
: Punto inicial en el eje horizontal
: Factor de
Fase de Soporte
En el eje horizontal se tiene una trayectoria de ecuacin lineal:
= +
41
Donde:
: Coordenada en el eje horizontal
: Punto inicial en el eje horizontal
: Factor de
e. Modelo de Aplicacin
42
0 = 12.38 (longitud lateral de extremidad)
0 = 3 1,2
0 = 3 5,6
0 = 10.51 (altura del robot)
= 7
rea de Trabajo: La figura 3.9 y figura 3.10 muestran una superficie
generada por [0,90].
43
Figura N 3.9. rea de Trabajo del efector final de la extremidad 3.
Fuente: Elaboracin propia.
44
Primera Etapa: 0 /3
45
1 = 10.51
Extremidad 4 = [/2: /4]
4 = 12.38 + 0.75( ) sin()
4 = 0 + 0.75( ) cos()
4 = 10.51
Extremidad 2 = [/4: /2]
2 = 12.38 0.75 sin()
2 = 0 0.75 cos()
2 = 10.51
Extremidad 5 = [/4: /2]
5 = 12.38 0.75 sin()
5 = 0 0.75 cos()
5 = 10.51
Extremidad 2 = [/2: 0]
2 = 12.38 + 1.5( ) sin
2 = 0 + 1.5( ) cos
2 = [8(1.5( ) + /4)2 + 10.51 /2]
Extremidad 5 = [/2: 0]
5 = 12.38 + 1.5( ) sin()
5 = 0 + 1.5( ) cos()
5 = [8(1.5( ) + /4)2 + 10.51 /2]
Extremidades 1 y 3 = [/4: 0]
1,3 = 12.38 + 0.75( ) sin()
1,3 = 0 + 0.75( ) cos()
1,3 = 10.51
Extremidades 4 y 6 = [/4: 0]
4,6 = 12.38 + 0.75( ) sin()
4,6 = 0 + 0.75( ) cos()
4,6 = 10.51
46
3.2.5.11. Diseo Mecnico
a. Distribucin Estructural
b. Estudios de Movimiento
47
Figura N 3.12: Motores virtuales y grados de libertad.
Fuente: Elaboracin propia.
c. Fsica de Materiales
22
Pgina web:
http://help.solidworks.com/2011/spanish/SolidWorks/cosmosxpresshelp/AllContent/SolidWorks/NonCore/
SimulationXpress/c_Why_Analyze_.html
48
femur_back 5112.74 2.39075E+6
shoulder_up 3970.04 6.48926E+6
shoulder_down 5134.48 1.39694E+6
tibia 733.081 2.03199E+6
chest 473.565 2.23397E+6
back 502.632 6.27793E+6
Fuente: Elaboracin propia.
49
femur_back 18.8226 8801.55
shoulder_up 6.93453 11334.9
shoulder_down 32.2133 8764.28
tibia 22.1458 61384.7
chest 20.1435 95024
back 7.16796 89528.8
Fuente: Elaboracin propia.
d. Manufactura
50
3.2.5.12. Diseo Electrnico
Se realiz teniendo en cuenta la tabla de requerimientos para hardware de control
(tabla 3.3), el diagrama mostrado en la figura 3.14 bosqueja el proceso e
interoperacin de unidades.
a. Unidad de Procesamiento
23
http://mbed.org/handbook/Homepage
51
b. Servo Controladora
La tarjeta ha sido diseada (figura 3.16 y 3.17) para cumplir una nica
funcin, la de posicionar los servomecanismos () a travs de modulacin de
ancho de pulso (PWM). Para lograr el mencionado propsito, se hizo uso de
un microcontrolador 18F4550 y sus mdulos de interrupcin: CCP1-CCP2
(asociados a su vez a los Timer1 y Timer3), el cdigo se ha realizado en PIC
C (compilador V4.114) y se encuentra en el anexo 3.
52
Figura N 3.17: PCB de Servo Controladora.
Fuente: Elaboracin propia.
53
La simulacin del funcionamiento se aprecia en la figura 3.18, de esta se
puede describir el comportamiento de los analizadores analgicos llamados
CPP1 y CPP2, un control de 8 PWM por mdulo, as como el puerto de
conexin USB-CDC, el puerto serie para interrupcin y 24 servomecanismos.
54
3.2.5.13. Software de Control
Configuraciones
Visin Artificial
Locomocin
Cinemtica
Servo Controladora
Plataforma Virtualizacin
En configuraciones (figura 3.21), se puede modificar los offsets de origen por cada
articulacin (cabeza y extremidades), tamao de paso, longitud del paso, offset
del polgono de soporte, velocidad de caminata, tcnica de locomocin para
desplazamiento y la seleccin perifrico de entrada, de este ltimo se puede
seleccionar entre: teclado, joystick, reconocimiento de voz y control inalmbrico.
55
En la ventana de locomocin, se puede apreciar a tiempo real el resultado del
clculo de las ecuaciones del apartado 3.2.5.10, esto se aprecia en la figura 3.22:
56
En la ventana emergente (pop-up) del polgono de soporte, se aprecia a tiempo
real el polgono formado por la ubicacin de extremidades en contacto con la
superficie, esto se aprecia en la figura 3.24:
57
En la figura 3.26, se aprecia el subVI denominado Servo_Controller, ste no es
ms que la versin simplificada del programa mostrado en la figura 3.19.
58
CAPTULO IV
59
4. RESULTADOS
Caminata Trpode
Se ha generado mediante 30 iteraciones un periodo de paso de 300 milisegundos, este
tiene una longitud de trazo de 2.5cm y un retardo por iteracin de 10ms. El
comportamiento se puede apreciar en la figura 4.1 y la precisin del seguimiento de
trayectorias de la tabla 4.1 a la tabla 4.6; los resultados obedecen a los siguientes
parmetros:
= 5
0 = 12.38
0 = 5 1,2
0 = 5 5,6
0 = 10.51
= 0
60
Tabla 4.1: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 1.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
1 1 1 1 1 1 1 1 1
0 12.38 5 -10.51 12.1507 5.53395 -10.51 1.8522 10.6790 0.0000
1 12.38 5.16667 -9.88778 12.1177 5.75498 -9.88778 2.1187 11.3866 0.0000
2 12.38 5.33333 -9.35444 12.0812 5.97947 -9.35444 2.4136 12.1151 0.0000
3 12.38 5.5 -8.91 12.0408 6.20751 -8.91 2.7399 12.8638 0.0000
4 12.38 5.66667 -8.55444 11.9964 6.43917 -8.55444 3.0985 13.6323 0.0000
5 12.38 5.83333 -8.28778 11.9475 6.67453 -8.28778 3.4935 14.4206 0.0000
6 12.38 6 -8.11 11.8939 6.91367 -8.11 3.9265 15.2278 0.0000
7 12.38 6.16667 -8.02111 11.8353 7.15664 -8.02111 4.3998 16.0536 0.0000
8 12.38 6.33333 -8.02111 11.7713 7.40351 -8.02111 4.9168 16.8976 0.0000
9 12.38 6.5 -8.11 11.7015 7.65433 -8.11 5.4806 17.7589 0.0000
10 12.38 6.66667 -8.28778 11.6256 7.90914 -8.28778 6.0937 18.6370 0.0000
11 12.38 6.83333 -8.55444 11.5431 8.16797 -8.55444 6.7601 19.5313 0.0000
12 12.38 7 -8.91 11.4536 8.43085 -8.91 7.4830 20.4407 0.0000
13 12.38 7.16667 -9.35444 11.3567 8.69779 -9.35444 8.2658 21.3645 0.0000
14 12.38 7.33333 -9.88778 11.2518 8.96879 -9.88778 9.1131 22.3017 0.0000
15 12.38 7.5 -10.51 11.1385 9.24384 -10.51 10.0283 23.2512 0.0000
16 12.38 7.33333 -10.51 11.2518 8.96879 -10.51 9.1131 22.3017 0.0000
17 12.38 7.16667 -10.51 11.3567 8.69779 -10.51 8.2658 21.3645 0.0000
18 12.38 7 -10.51 11.4536 8.43085 -10.51 7.4830 20.4407 0.0000
19 12.38 6.83333 -10.51 11.5431 8.16797 -10.51 6.7601 19.5313 0.0000
20 12.38 6.66667 -10.51 11.6256 7.90914 -10.51 6.0937 18.6370 0.0000
21 12.38 6.5 -10.51 11.7015 7.65433 -10.51 5.4806 17.7589 0.0000
22 12.38 6.33333 -10.51 11.7713 7.40351 -10.51 4.9168 16.8976 0.0000
23 12.38 6.16667 -10.51 11.8353 7.15664 -10.51 4.3998 16.0536 0.0000
24 12.38 6 -10.51 11.8939 6.91367 -10.51 3.9265 15.2278 0.0000
25 12.38 5.83333 -10.51 11.9475 6.67453 -10.51 3.4935 14.4206 0.0000
26 12.38 5.66667 -10.51 11.9964 6.43917 -10.51 3.0985 13.6323 0.0000
27 12.38 5.5 -10.51 12.0408 6.20751 -10.51 2.7399 12.8638 0.0000
28 12.38 5.33333 -10.51 12.0812 5.97947 -10.51 2.4136 12.1151 0.0000
29 12.38 5.16667 -10.51 12.1177 5.75498 -10.51 2.1187 11.3866 0.0000
Fuente: Elaboracin propia.
61
Tabla 4.2: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 2.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
2 2 2 2 2 2 2 2 2
0 12.38 7.5 -10.51 11.1385 9.24384 -10.51 10.0283 23.2512 0.0000
1 12.38 7.33333 -10.51 11.2518 8.96879 -10.51 9.1131 22.3017 0.0000
2 12.38 7.16667 -10.51 11.3567 8.69779 -10.51 8.2658 21.3645 0.0000
3 12.38 7 -10.51 11.4536 8.43085 -10.51 7.4830 20.4407 0.0000
4 12.38 6.83333 -10.51 11.5431 8.16797 -10.51 6.7601 19.5313 0.0000
5 12.38 6.66667 -10.51 11.6256 7.90914 -10.51 6.0937 18.6370 0.0000
6 12.38 6.5 -10.51 11.7015 7.65433 -10.51 5.4806 17.7589 0.0000
7 12.38 6.33333 -10.51 11.7713 7.40351 -10.51 4.9168 16.8976 0.0000
8 12.38 6.16667 -10.51 11.8353 7.15664 -10.51 4.3998 16.0536 0.0000
9 12.38 6 -10.51 11.8939 6.91367 -10.51 3.9265 15.2278 0.0000
10 12.38 5.83333 -10.51 11.9475 6.67453 -10.51 3.4935 14.4206 0.0000
11 12.38 5.66667 -10.51 11.9964 6.43917 -10.51 3.0985 13.6323 0.0000
12 12.38 5.5 -10.51 12.0408 6.20751 -10.51 2.7399 12.8638 0.0000
13 12.38 5.33333 -10.51 12.0812 5.97947 -10.51 2.4136 12.1151 0.0000
14 12.38 5.16667 -10.51 12.1177 5.75498 -10.51 2.1187 11.3866 0.0000
15 12.38 5 -10.51 12.1507 5.53395 -10.51 1.8522 10.6790 0.0000
16 12.38 5.16667 -9.88778 12.1177 5.75498 -9.88778 2.1187 11.3866 0.0000
17 12.38 5.33333 -9.35444 12.0812 5.97947 -9.35444 2.4136 12.1151 0.0000
18 12.38 5.5 -8.91 12.0408 6.20751 -8.91 2.7399 12.8638 0.0000
19 12.38 5.66667 -8.55444 11.9964 6.43917 -8.55444 3.0985 13.6323 0.0000
20 12.38 5.83333 -8.28778 11.9475 6.67453 -8.28778 3.4935 14.4206 0.0000
21 12.38 6 -8.11 11.8939 6.91367 -8.11 3.9265 15.2278 0.0000
22 12.38 6.16667 -8.02111 11.8353 7.15664 -8.02111 4.3998 16.0536 0.0000
23 12.38 6.33333 -8.02111 11.7713 7.40351 -8.02111 4.9168 16.8976 0.0000
24 12.38 6.5 -8.11 11.7015 7.65433 -8.11 5.4806 17.7589 0.0000
25 12.38 6.66667 -8.28778 11.6256 7.90914 -8.28778 6.0937 18.6370 0.0000
26 12.38 6.83333 -8.55444 11.5431 8.16797 -8.55444 6.7601 19.5313 0.0000
27 12.38 7 -8.91 11.4536 8.43085 -8.91 7.4830 20.4407 0.0000
28 12.38 7.16667 -9.35444 11.3567 8.69779 -9.35444 8.2658 21.3645 0.0000
29 12.38 7.33333 -9.88778 11.2518 8.96879 -9.88778 9.1131 22.3017 0.0000
Fuente: Elaboracin propia.
62
Tabla 4.3: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 3.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
3 3 3 3 3 3 3 3 3
0 12.38 1.25 -10.51 12.3791 1.25849 -10.51 0.0073 0.6792 0.0000
1 12.38 1.08333 -10.51 12.3795 1.08886 -10.51 0.0040 0.5105 0.0000
2 12.38 0.916667 -10.51 12.3798 0.920015 -10.51 0.0016 0.3652 0.0000
3 12.38 0.75 -10.51 12.3799 0.751834 -10.51 0.0008 0.2445 0.0000
4 12.38 0.583333 -10.51 12.38 0.584197 -10.51 0.0000 0.1481 0.0000
5 12.38 0.416667 -10.51 12.38 0.416981 -10.51 0.0000 0.0754 0.0000
6 12.38 0.25 -10.51 12.38 0.250068 -10.51 0.0000 0.0272 0.0000
7 12.38 0.083333 -10.51 12.38 0.083336 -10.51 0.0000 0.0031 0.0000
8 12.38 -0.08333 -10.51 12.38 -0.08334 -10.51 0.0000 0.0031 0.0000
9 12.38 -0.25 -10.51 12.38 -0.25007 -10.51 0.0000 0.0272 0.0000
10 12.38 -0.41667 -10.51 12.38 -0.41698 -10.51 0.0000 0.0754 0.0000
11 12.38 -0.58333 -10.51 12.38 -0.5842 -10.51 0.0000 0.1481 0.0000
12 12.38 -0.75 -10.51 12.3799 -0.75183 -10.51 0.0008 0.2445 0.0000
13 12.38 -0.91667 -10.51 12.3798 -0.92002 -10.51 0.0016 0.3652 0.0000
14 12.38 -1.08333 -10.51 12.3795 -1.08886 -10.51 0.0040 0.5105 0.0000
15 12.38 -1.25 -10.51 12.3791 -1.25849 -10.51 0.0073 0.6792 0.0000
16 12.38 -1.08333 -9.88778 12.3795 -1.08886 -9.88778 0.0040 0.5105 0.0000
17 12.38 -0.91667 -9.35444 12.3798 -0.92002 -9.35444 0.0016 0.3652 0.0000
18 12.38 -0.75 -8.91 12.3799 -0.75183 -8.91 0.0008 0.2445 0.0000
19 12.38 -0.58333 -8.55444 12.38 -0.5842 -8.55444 0.0000 0.1481 0.0000
20 12.38 -0.41667 -8.28778 12.38 -0.41698 -8.28778 0.0000 0.0754 0.0000
21 12.38 -0.25 -8.11 12.38 -0.25007 -8.11 0.0000 0.0272 0.0000
22 12.38 -0.08333 -8.02111 12.38 -0.08334 -8.02111 0.0000 0.0031 0.0000
23 12.38 0.083333 -8.02111 12.38 0.083336 -8.02111 0.0000 0.0031 0.0000
24 12.38 0.25 -8.11 12.38 0.250068 -8.11 0.0000 0.0272 0.0000
25 12.38 0.416667 -8.28778 12.38 0.416981 -8.28778 0.0000 0.0754 0.0000
26 12.38 0.583333 -8.55444 12.38 0.584197 -8.55444 0.0000 0.1481 0.0000
27 12.38 0.75 -8.91 12.3799 0.751834 -8.91 0.0008 0.2445 0.0000
28 12.38 0.916667 -9.35444 12.3798 0.920015 -9.35444 0.0016 0.3652 0.0000
29 12.38 1.08333 -9.88778 12.3795 1.08886 -9.88778 0.0040 0.5105 0.0000
Fuente: Elaboracin propia.
63
Tabla 4.4: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 4.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
4 4 4 4 4 4 4 4 4
0 12.38 -1.25 -10.51 12.3791 -1.25849 -10.51 0.0073 0.6792 0.0000
1 12.38 -1.08333 -9.88778 12.3795 -1.08886 -9.88778 0.0040 0.5105 0.0000
2 12.38 -0.91667 -9.35444 12.3798 -0.92002 -9.35444 0.0016 0.3652 0.0000
3 12.38 -0.75 -8.91 12.3799 -0.75183 -8.91 0.0008 0.2445 0.0000
4 12.38 -0.58333 -8.55444 12.38 -0.5842 -8.55444 0.0000 0.1481 0.0000
5 12.38 -0.41667 -8.28778 12.38 -0.41698 -8.28778 0.0000 0.0754 0.0000
6 12.38 -0.25 -8.11 12.38 -0.25007 -8.11 0.0000 0.0272 0.0000
7 12.38 -0.08333 -8.02111 12.38 -0.08334 -8.02111 0.0000 0.0031 0.0000
8 12.38 0.083333 -8.02111 12.38 0.083336 -8.02111 0.0000 0.0031 0.0000
9 12.38 0.25 -8.11 12.38 0.250068 -8.11 0.0000 0.0272 0.0000
10 12.38 0.416667 -8.28778 12.38 0.416981 -8.28778 0.0000 0.0754 0.0000
11 12.38 0.583333 -8.55444 12.38 0.584197 -8.55444 0.0000 0.1481 0.0000
12 12.38 0.75 -8.91 12.3799 0.751834 -8.91 0.0008 0.2445 0.0000
13 12.38 0.916667 -9.35444 12.3798 0.920015 -9.35444 0.0016 0.3652 0.0000
14 12.38 1.08333 -9.88778 12.3795 1.08886 -9.88778 0.0040 0.5105 0.0000
15 12.38 1.25 -10.51 12.3791 1.25849 -10.51 0.0073 0.6792 0.0000
16 12.38 1.08333 -10.51 12.3795 1.08886 -10.51 0.0040 0.5105 0.0000
17 12.38 0.916667 -10.51 12.3798 0.920015 -10.51 0.0016 0.3652 0.0000
18 12.38 0.75 -10.51 12.3799 0.751834 -10.51 0.0008 0.2445 0.0000
19 12.38 0.583333 -10.51 12.38 0.584197 -10.51 0.0000 0.1481 0.0000
20 12.38 0.416667 -10.51 12.38 0.416981 -10.51 0.0000 0.0754 0.0000
21 12.38 0.25 -10.51 12.38 0.250068 -10.51 0.0000 0.0272 0.0000
22 12.38 0.083333 -10.51 12.38 0.083336 -10.51 0.0000 0.0031 0.0000
23 12.38 -0.08333 -10.51 12.38 -0.08334 -10.51 0.0000 0.0031 0.0000
24 12.38 -0.25 -10.51 12.38 -0.25007 -10.51 0.0000 0.0272 0.0000
25 12.38 -0.41667 -10.51 12.38 -0.41698 -10.51 0.0000 0.0754 0.0000
26 12.38 -0.58333 -10.51 12.38 -0.5842 -10.51 0.0000 0.1481 0.0000
27 12.38 -0.75 -10.51 12.3799 -0.75183 -10.51 0.0008 0.2445 0.0000
28 12.38 -0.91667 -10.51 12.3798 -0.92002 -10.51 0.0016 0.3652 0.0000
29 12.38 -1.08333 -10.51 12.3795 -1.08886 -10.51 0.0040 0.5105 0.0000
Fuente: Elaboracin propia.
64
Tabla 4.5: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 5.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
5 5 5 5 5 5 5 5 5
0 12.38 -5 -10.51 12.1507 -5.53395 -10.51 1.8522 10.6790 0.0000
1 12.38 -4.83333 -9.88778 12.1804 -5.3163 -9.88778 1.6123 9.9925 0.0000
2 12.38 -4.66667 -9.35444 12.2071 -5.10193 -9.35444 1.3966 9.3270 0.0000
3 12.38 -4.5 -8.91 12.2309 -4.89074 -8.91 1.2044 8.6831 0.0000
4 12.38 -4.33333 -8.55444 12.2521 -4.68264 -8.55444 1.0331 8.0610 0.0000
5 12.38 -4.16667 -8.28778 12.271 -4.47754 -8.28778 0.8805 7.4609 0.0000
6 12.38 -4 -8.11 12.2876 -4.27532 -8.11 0.7464 6.8830 0.0000
7 12.38 -3.83333 -8.02111 12.3023 -4.07588 -8.02111 0.6276 6.3274 0.0000
8 12.38 -3.66667 -8.02111 12.3151 -3.87913 -8.02111 0.5242 5.7944 0.0000
9 12.38 -3.5 -8.11 12.3262 -3.68495 -8.11 0.4346 5.2843 0.0000
10 12.38 -3.33333 -8.28778 12.3358 -3.49323 -8.28778 0.3570 4.7970 0.0000
11 12.38 -3.16667 -8.55444 12.3441 -3.30386 -8.55444 0.2900 4.3323 0.0000
12 12.38 -3 -8.91 12.3511 -3.11674 -8.91 0.2334 3.8913 0.0000
13 12.38 -2.83333 -9.35444 12.3571 -2.93174 -9.35444 0.1850 3.4733 0.0000
14 12.38 -2.66667 -9.88778 12.362 -2.74876 -9.88778 0.1454 3.0784 0.0000
15 12.38 -2.5 -10.51 12.3661 -2.56768 -10.51 0.1123 2.7072 0.0000
16 12.38 -2.66667 -10.51 12.362 -2.74876 -10.51 0.1454 3.0784 0.0000
17 12.38 -2.83333 -10.51 12.3571 -2.93174 -10.51 0.1850 3.4733 0.0000
18 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
19 12.38 -3.16667 -10.51 12.3441 -3.30386 -10.51 0.2900 4.3323 0.0000
20 12.38 -3.33333 -10.51 12.3358 -3.49323 -10.51 0.3570 4.7970 0.0000
21 12.38 -3.5 -10.51 12.3262 -3.68495 -10.51 0.4346 5.2843 0.0000
22 12.38 -3.66667 -10.51 12.3151 -3.87913 -10.51 0.5242 5.7944 0.0000
23 12.38 -3.83333 -10.51 12.3023 -4.07588 -10.51 0.6276 6.3274 0.0000
24 12.38 -4 -10.51 12.2876 -4.27532 -10.51 0.7464 6.8830 0.0000
25 12.38 -4.16667 -10.51 12.271 -4.47754 -10.51 0.8805 7.4609 0.0000
26 12.38 -4.33333 -10.51 12.2521 -4.68264 -10.51 1.0331 8.0610 0.0000
27 12.38 -4.5 -10.51 12.2309 -4.89074 -10.51 1.2044 8.6831 0.0000
28 12.38 -4.66667 -10.51 12.2071 -5.10193 -10.51 1.3966 9.3270 0.0000
29 12.38 -4.83333 -10.51 12.1804 -5.3163 -10.51 1.6123 9.9925 0.0000
Fuente: Elaboracin propia.
65
Tabla 4.6: Fidelidad de Recorrido en Trayectoria / Caminata Trpode - Extremidad 6.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
6 6 6 6 6 6 6 6 6
0 12.38 -2.5 -10.51 12.3661 -2.56768 -10.51 0.1123 2.7072 0.0000
1 12.38 -2.66667 -10.51 12.362 -2.74876 -10.51 0.1454 3.0784 0.0000
2 12.38 -2.83333 -10.51 12.3571 -2.93174 -10.51 0.1850 3.4733 0.0000
3 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
4 12.38 -3.16667 -10.51 12.3441 -3.30386 -10.51 0.2900 4.3323 0.0000
5 12.38 -3.33333 -10.51 12.3358 -3.49323 -10.51 0.3570 4.7970 0.0000
6 12.38 -3.5 -10.51 12.3262 -3.68495 -10.51 0.4346 5.2843 0.0000
7 12.38 -3.66667 -10.51 12.3151 -3.87913 -10.51 0.5242 5.7944 0.0000
8 12.38 -3.83333 -10.51 12.3023 -4.07588 -10.51 0.6276 6.3274 0.0000
9 12.38 -4 -10.51 12.2876 -4.27532 -10.51 0.7464 6.8830 0.0000
10 12.38 -4.16667 -10.51 12.271 -4.47754 -10.51 0.8805 7.4609 0.0000
11 12.38 -4.33333 -10.51 12.2521 -4.68264 -10.51 1.0331 8.0610 0.0000
12 12.38 -4.5 -10.51 12.2309 -4.89074 -10.51 1.2044 8.6831 0.0000
13 12.38 -4.66667 -10.51 12.2071 -5.10193 -10.51 1.3966 9.3270 0.0000
14 12.38 -4.83333 -10.51 12.1804 -5.3163 -10.51 1.6123 9.9925 0.0000
15 12.38 -5 -10.51 12.1507 -5.53395 -10.51 1.8522 10.6790 0.0000
16 12.38 -4.83333 -9.88778 12.1804 -5.3163 -9.88778 1.6123 9.9925 0.0000
17 12.38 -4.66667 -9.35444 12.2071 -5.10193 -9.35444 1.3966 9.3270 0.0000
18 12.38 -4.5 -8.91 12.2309 -4.89074 -8.91 1.2044 8.6831 0.0000
19 12.38 -4.33333 -8.55444 12.2521 -4.68264 -8.55444 1.0331 8.0610 0.0000
20 12.38 -4.16667 -8.28778 12.271 -4.47754 -8.28778 0.8805 7.4609 0.0000
21 12.38 -4 -8.11 12.2876 -4.27532 -8.11 0.7464 6.8830 0.0000
22 12.38 -3.83333 -8.02111 12.3023 -4.07588 -8.02111 0.6276 6.3274 0.0000
23 12.38 -3.66667 -8.02111 12.3151 -3.87913 -8.02111 0.5242 5.7944 0.0000
24 12.38 -3.5 -8.11 12.3262 -3.68495 -8.11 0.4346 5.2843 0.0000
25 12.38 -3.33333 -8.28778 12.3358 -3.49323 -8.28778 0.3570 4.7970 0.0000
26 12.38 -3.16667 -8.55444 12.3441 -3.30386 -8.55444 0.2900 4.3323 0.0000
27 12.38 -3 -8.91 12.3511 -3.11674 -8.91 0.2334 3.8913 0.0000
28 12.38 -2.83333 -9.35444 12.3571 -2.93174 -9.35444 0.1850 3.4733 0.0000
29 12.38 -2.66667 -9.88778 12.362 -2.74876 -9.88778 0.1454 3.0784 0.0000
Fuente: Elaboracin propia.
66
Caminara Cuadrpeda
= 7
0 = 12.38
0 = 3 1,2
0 = 3 5,6
0 = 10.51
= 90
67
Tabla 4.7: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 1.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
1 1 1 1 1 1 1 1 1
0 12.38 3 -10.51 12.3511 3.11674 -10.51 0.2334 3.8913 0.0000
1 12.03 3 -9.25 11.9985 3.12358 -9.25 0.2618 4.1193 0.0000
2 11.68 3 -8.27 11.6456 3.13105 -8.27 0.2945 4.3683 0.0000
3 11.33 3 -7.57 11.2922 3.1392 -7.57 0.3336 4.6400 0.0000
4 10.98 3 -7.15 10.9384 3.14815 -7.15 0.3789 4.9383 0.0000
5 10.63 3 -7.01 10.5841 3.15798 -7.01 0.4318 5.2660 0.0000
6 10.28 3 -7.15 10.2292 3.16882 -7.15 0.4942 5.6273 0.0000
7 9.93 3 -7.57 9.87357 3.1808 -7.57 0.5683 6.0267 0.0000
8 9.58 3 -8.27 9.51704 3.19411 -8.27 0.6572 6.4703 0.0000
9 9.23 3 -9.25 9.15946 3.20893 -9.25 0.7642 6.9643 0.0000
10 8.88 3 -10.51 8.8006 3.2255 -10.51 0.8941 7.5167 0.0000
11 9.055 3 -10.51 8.9802 3.21698 -10.51 0.8261 7.2327 0.0000
12 9.23 3 -10.51 9.15946 3.20893 -10.51 0.7642 6.9643 0.0000
13 9.405 3 -10.51 9.33839 3.20131 -10.51 0.7082 6.7103 0.0000
14 9.58 3 -10.51 9.51704 3.19411 -10.51 0.6572 6.4703 0.0000
15 9.755 3 -10.51 9.69543 3.18728 -10.51 0.6107 6.2427 0.0000
16 9.93 3 -10.51 9.87357 3.1808 -10.51 0.5683 6.0267 0.0000
17 10.105 3 -10.51 10.0515 3.17466 -10.51 0.5294 5.8220 0.0000
18 10.28 3 -10.51 10.2292 3.16882 -10.51 0.4942 5.6273 0.0000
19 10.455 3 -10.51 10.4068 3.16326 -10.51 0.4610 5.4420 0.0000
20 10.63 3 -10.51 10.5841 3.15798 -10.51 0.4318 5.2660 0.0000
21 10.805 3 -10.51 10.7614 3.15294 -10.51 0.4035 5.0980 0.0000
22 10.98 3 -10.51 10.9384 3.14815 -10.51 0.3789 4.9383 0.0000
23 11.155 3 -10.51 11.1154 3.14357 -10.51 0.3550 4.7857 0.0000
24 11.33 3 -10.51 11.2922 3.1392 -10.51 0.3336 4.6400 0.0000
25 11.505 3 -10.51 11.4689 3.13503 -10.51 0.3138 4.5010 0.0000
26 11.68 3 -10.51 11.6456 3.13105 -10.51 0.2945 4.3683 0.0000
27 11.855 3 -10.51 11.8221 3.12723 -10.51 0.2775 4.2410 0.0000
28 12.03 3 -10.51 11.9985 3.12358 -10.51 0.2618 4.1193 0.0000
29 12.205 3 -10.51 12.1749 3.12009 -10.51 0.2466 4.0030 0.0000
Fuente: Elaboracin propia.
68
Tabla 4.8: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 2.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
2 2 2 2 2 2 2 2 2
0 12.38 3 -10.51 12.3511 3.11674 -10.51 0.2334 3.8913 0.0000
1 12.205 3 -10.51 12.1749 3.12009 -10.51 0.2466 4.0030 0.0000
2 12.03 3 -10.51 11.9985 3.12358 -10.51 0.2618 4.1193 0.0000
3 11.855 3 -10.51 11.8221 3.12723 -10.51 0.2775 4.2410 0.0000
4 11.68 3 -10.51 11.6456 3.13105 -10.51 0.2945 4.3683 0.0000
5 11.505 3 -10.51 11.4689 3.13503 -10.51 0.3138 4.5010 0.0000
6 11.33 3 -10.51 11.2922 3.1392 -10.51 0.3336 4.6400 0.0000
7 11.155 3 -10.51 11.1154 3.14357 -10.51 0.3550 4.7857 0.0000
8 10.98 3 -10.51 10.9384 3.14815 -10.51 0.3789 4.9383 0.0000
9 10.805 3 -10.51 10.7614 3.15294 -10.51 0.4035 5.0980 0.0000
10 10.63 3 -10.51 10.5841 3.15798 -10.51 0.4318 5.2660 0.0000
11 10.455 3 -10.51 10.4068 3.16326 -10.51 0.4610 5.4420 0.0000
12 10.28 3 -10.51 10.2292 3.16882 -10.51 0.4942 5.6273 0.0000
13 10.105 3 -10.51 10.0515 3.17466 -10.51 0.5294 5.8220 0.0000
14 9.93 3 -10.51 9.87357 3.1808 -10.51 0.5683 6.0267 0.0000
15 9.755 3 -10.51 9.69543 3.18728 -10.51 0.6107 6.2427 0.0000
16 9.58 3 -10.51 9.51704 3.19411 -10.51 0.6572 6.4703 0.0000
17 9.405 3 -10.51 9.33839 3.20131 -10.51 0.7082 6.7103 0.0000
18 9.23 3 -10.51 9.15946 3.20893 -10.51 0.7642 6.9643 0.0000
19 9.055 3 -10.51 8.9802 3.21698 -10.51 0.8261 7.2327 0.0000
20 8.88 3 -10.51 8.8006 3.2255 -10.51 0.8941 7.5167 0.0000
21 9.23 3 -9.25 9.15946 3.20893 -9.25 0.7642 6.9643 0.0000
22 9.58 3 -8.27 9.51704 3.19411 -8.27 0.6572 6.4703 0.0000
23 9.93 3 -7.57 9.87357 3.1808 -7.57 0.5683 6.0267 0.0000
24 10.28 3 -7.15 10.2292 3.16882 -7.15 0.4942 5.6273 0.0000
25 10.63 3 -7.01 10.5841 3.15798 -7.01 0.4318 5.2660 0.0000
26 10.98 3 -7.15 10.9384 3.14815 -7.15 0.3789 4.9383 0.0000
27 11.33 3 -7.57 11.2922 3.1392 -7.57 0.3336 4.6400 0.0000
28 11.68 3 -8.27 11.6456 3.13105 -8.27 0.2945 4.3683 0.0000
29 12.03 3 -9.25 11.9985 3.12358 -9.25 0.2618 4.1193 0.0000
Fuente: Elaboracin propia.
69
Tabla 4.9: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 3.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
3 3 3 3 3 3 3 3 3
0 12.38 0 -10.51 12.38 0 -10.51 0.0000 0.0000 0.0000
1 12.555 0 -10.51 12.555 0 -10.51 0.0000 0.0000 0.0000
2 12.73 0 -10.51 12.73 0 -10.51 0.0000 0.0000 0.0000
3 12.905 0 -10.51 12.905 0 -10.51 0.0000 0.0000 0.0000
4 13.08 0 -10.51 13.08 0 -10.51 0.0000 0.0000 0.0000
5 13.255 0 -10.51 13.255 0 -10.51 0.0000 0.0000 0.0000
6 13.43 0 -10.51 13.43 0 -10.51 0.0000 0.0000 0.0000
7 13.605 0 -10.51 13.605 0 -10.51 0.0000 0.0000 0.0000
8 13.78 0 -10.51 13.78 0 -10.51 0.0000 0.0000 0.0000
9 13.955 0 -10.51 13.955 0 -10.51 0.0000 0.0000 0.0000
10 14.13 0 -10.51 14.13 0 -10.51 0.0000 0.0000 0.0000
11 13.78 0 -9.25 13.78 0 -9.25 0.0000 0.0000 0.0000
12 13.43 0 -8.27 13.43 0 -8.27 0.0000 0.0000 0.0000
13 13.08 0 -7.57 13.08 0 -7.57 0.0000 0.0000 0.0000
14 12.73 0 -7.15 12.73 0 -7.15 0.0000 0.0000 0.0000
15 12.38 0 -7.01 12.38 0 -7.01 0.0000 0.0000 0.0000
16 12.03 0 -7.15 12.03 0 -7.15 0.0000 0.0000 0.0000
17 11.68 0 -7.57 11.68 0 -7.57 0.0000 0.0000 0.0000
18 11.33 0 -8.27 11.33 0 -8.27 0.0000 0.0000 0.0000
19 10.98 0 -9.25 10.98 0 -9.25 0.0000 0.0000 0.0000
20 10.63 0 -10.51 10.63 0 -10.51 0.0000 0.0000 0.0000
21 10.805 0 -10.51 10.805 0 -10.51 0.0000 0.0000 0.0000
22 10.98 0 -10.51 10.98 0 -10.51 0.0000 0.0000 0.0000
23 11.155 0 -10.51 11.155 0 -10.51 0.0000 0.0000 0.0000
24 11.33 0 -10.51 11.33 0 -10.51 0.0000 0.0000 0.0000
25 11.505 0 -10.51 11.505 0 -10.51 0.0000 0.0000 0.0000
26 11.68 0 -10.51 11.68 0 -10.51 0.0000 0.0000 0.0000
27 11.855 0 -10.51 11.855 0 -10.51 0.0000 0.0000 0.0000
28 12.03 0 -10.51 12.03 0 -10.51 0.0000 0.0000 0.0000
29 12.205 0 -10.51 12.205 0 -10.51 0.0000 0.0000 0.0000
Fuente: Elaboracin propia.
70
Tabla 4.10: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 4.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
4 4 4 4 4 4 4 4 4
0 12.38 0 -10.51 12.38 0 -10.51 0.0000 0.0000 0.0000
1 12.73 0 -9.25 12.73 0 -9.25 0.0000 0.0000 0.0000
2 13.08 0 -8.27 13.08 0 -8.27 0.0000 0.0000 0.0000
3 13.43 0 -7.57 13.43 0 -7.57 0.0000 0.0000 0.0000
4 13.78 0 -7.15 13.78 0 -7.15 0.0000 0.0000 0.0000
5 14.13 0 -7.01 14.13 0 -7.01 0.0000 0.0000 0.0000
6 14.48 0 -7.15 14.48 0 -7.15 0.0000 0.0000 0.0000
7 14.83 0 -7.57 14.83 0 -7.57 0.0000 0.0000 0.0000
8 15.18 0 -8.27 15.18 0 -8.27 0.0000 0.0000 0.0000
9 15.53 0 -9.25 15.53 0 -9.25 0.0000 0.0000 0.0000
10 15.88 0 -10.51 15.88 0 -10.51 0.0000 0.0000 0.0000
11 15.705 0 -10.51 15.705 0 -10.51 0.0000 0.0000 0.0000
12 15.53 0 -10.51 15.53 0 -10.51 0.0000 0.0000 0.0000
13 15.355 0 -10.51 15.355 0 -10.51 0.0000 0.0000 0.0000
14 15.18 0 -10.51 15.18 0 -10.51 0.0000 0.0000 0.0000
15 15.005 0 -10.51 15.005 0 -10.51 0.0000 0.0000 0.0000
16 14.83 0 -10.51 14.83 0 -10.51 0.0000 0.0000 0.0000
17 14.655 0 -10.51 14.655 0 -10.51 0.0000 0.0000 0.0000
18 14.48 0 -10.51 14.48 0 -10.51 0.0000 0.0000 0.0000
19 14.305 0 -10.51 14.305 0 -10.51 0.0000 0.0000 0.0000
20 14.13 0 -10.51 14.13 0 -10.51 0.0000 0.0000 0.0000
21 13.955 0 -10.51 13.955 0 -10.51 0.0000 0.0000 0.0000
22 13.78 0 -10.51 13.78 0 -10.51 0.0000 0.0000 0.0000
23 13.605 0 -10.51 13.605 0 -10.51 0.0000 0.0000 0.0000
24 13.43 0 -10.51 13.43 0 -10.51 0.0000 0.0000 0.0000
25 13.255 0 -10.51 13.255 0 -10.51 0.0000 0.0000 0.0000
26 13.08 0 -10.51 13.08 0 -10.51 0.0000 0.0000 0.0000
27 12.905 0 -10.51 12.905 0 -10.51 0.0000 0.0000 0.0000
28 12.73 0 -10.51 12.73 0 -10.51 0.0000 0.0000 0.0000
29 12.555 0 -10.51 12.555 0 -10.51 0.0000 0.0000 0.0000
Fuente: Elaboracin propia.
71
Tabla 4.11: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 5.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
5 5 5 5 5 5 5 5 5
0 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
1 12.555 -3 -10.51 12.5273 -3.11352 -10.51 0.2206 3.7840 0.0000
2 12.73 -3 -10.51 12.7035 -3.11044 -10.51 0.2082 3.6813 0.0000
3 12.905 -3 -10.51 12.8795 -3.10748 -10.51 0.1976 3.5827 0.0000
4 13.08 -3 -10.51 13.0556 -3.10464 -10.51 0.1865 3.4880 0.0000
5 13.255 -3 -10.51 13.2315 -3.10191 -10.51 0.1773 3.3970 0.0000
6 13.43 -3 -10.51 13.4074 -3.09929 -10.51 0.1683 3.3097 0.0000
7 13.605 -3 -10.51 13.5833 -3.09676 -10.51 0.1595 3.2253 0.0000
8 13.78 -3 -10.51 13.7591 -3.09433 -10.51 0.1517 3.1443 0.0000
9 13.955 -3 -10.51 13.9349 -3.09199 -10.51 0.1440 3.0663 0.0000
10 14.13 -3 -10.51 14.1106 -3.08974 -10.51 0.1373 2.9913 0.0000
11 14.305 -3 -10.51 14.2864 -3.08757 -10.51 0.1300 2.9190 0.0000
12 14.48 -3 -10.51 14.462 -3.08547 -10.51 0.1243 2.8490 0.0000
13 14.655 -3 -10.51 14.6377 -3.08345 -10.51 0.1180 2.7817 0.0000
14 14.83 -3 -10.51 14.8133 -3.0815 -10.51 0.1126 2.7167 0.0000
15 15.005 -3 -10.51 14.9889 -3.07962 -10.51 0.1073 2.6540 0.0000
16 15.18 -3 -10.51 15.1644 -3.0778 -10.51 0.1028 2.5933 0.0000
17 15.355 -3 -10.51 15.3399 -3.07605 -10.51 0.0983 2.5350 0.0000
18 15.53 -3 -10.51 15.5155 -3.07435 -10.51 0.0934 2.4783 0.0000
19 15.705 -3 -10.51 15.6909 -3.07271 -10.51 0.0898 2.4237 0.0000
20 15.88 -3 -10.51 15.8664 -3.07112 -10.51 0.0856 2.3707 0.0000
21 15.53 -3 -9.25 15.5155 -3.07435 -9.25 0.0934 2.4783 0.0000
22 15.18 -3 -8.27 15.1644 -3.0778 -8.27 0.1028 2.5933 0.0000
23 14.83 -3 -7.57 14.8133 -3.0815 -7.57 0.1126 2.7167 0.0000
24 14.48 -3 -7.15 14.462 -3.08547 -7.15 0.1243 2.8490 0.0000
25 14.13 -3 -7.01 14.1106 -3.08974 -7.01 0.1373 2.9913 0.0000
26 13.78 -3 -7.15 13.7591 -3.09433 -7.15 0.1517 3.1443 0.0000
27 13.43 -3 -7.57 13.4074 -3.09929 -7.57 0.1683 3.3097 0.0000
28 13.08 -3 -8.27 13.0556 -3.10464 -8.27 0.1865 3.4880 0.0000
29 12.73 -3 -9.25 12.7035 -3.11044 -9.25 0.2082 3.6813 0.0000
Fuente: Elaboracin propia.
72
Tabla 4.12: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda - Extremidad 6.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
6 6 6 6 6 6 6 6 6
0 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
1 12.205 -3 -10.51 12.1749 -3.12009 -10.51 0.2466 4.0030 0.0000
2 12.03 -3 -10.51 11.9985 -3.12358 -10.51 0.2618 4.1193 0.0000
3 11.855 -3 -10.51 11.8221 -3.12723 -10.51 0.2775 4.2410 0.0000
4 11.68 -3 -10.51 11.6456 -3.13105 -10.51 0.2945 4.3683 0.0000
5 11.505 -3 -10.51 11.4689 -3.13503 -10.51 0.3138 4.5010 0.0000
6 11.33 -3 -10.51 11.2922 -3.1392 -10.51 0.3336 4.6400 0.0000
7 11.155 -3 -10.51 11.1154 -3.14357 -10.51 0.3550 4.7857 0.0000
8 10.98 -3 -10.51 10.9384 -3.14815 -10.51 0.3789 4.9383 0.0000
9 10.805 -3 -10.51 10.7614 -3.15294 -10.51 0.4035 5.0980 0.0000
1 10.63 -3 -10.51 10.5841 -3.15798 -10.51 0.4318 5.2660 0.0000
0
1 0.3789 4.9383 0.0000
10.98 -3 -9.25 10.9384 -3.14815 -9.25
1
1 0.3336 4.6400 0.0000
11.33 -3 -8.27 11.2922 -3.1392 -8.27
2
1 0.2945 4.3683 0.0000
11.68 -3 -7.57 11.6456 -3.13105 -7.57
3
1 0.2618 4.1193 0.0000
12.03 -3 -7.15 11.9985 -3.12358 -7.15
4
1 0.2334 3.8913 0.0000
12.38 -3 -7.01 12.3511 -3.11674 -7.01
5
1 0.2082 3.6813 0.0000
12.73 -3 -7.15 12.7035 -3.11044 -7.15
6
1 0.1865 3.4880 0.0000
13.08 -3 -7.57 13.0556 -3.10464 -7.57
7
1 0.1683 3.3097 0.0000
13.43 -3 -8.27 13.4074 -3.09929 -8.27
8
1 0.1517 3.1443 0.0000
13.78 -3 -9.25 13.7591 -3.09433 -9.25
9
2 0.1373 2.9913 0.0000
14.13 -3 -10.51 14.1106 -3.08974 -10.51
0
2 0.1440 3.0663 0.0000
13.955 -3 -10.51 13.9349 -3.09199 -10.51
1
2 0.1517 3.1443 0.0000
13.78 -3 -10.51 13.7591 -3.09433 -10.51
2
2 0.1595 3.2253 0.0000
13.605 -3 -10.51 13.5833 -3.09676 -10.51
3
2 0.1683 3.3097 0.0000
13.43 -3 -10.51 13.4074 -3.09929 -10.51
4
2 0.1773 3.3970 0.0000
13.255 -3 -10.51 13.2315 -3.10191 -10.51
5
2 0.1865 3.4880 0.0000
13.08 -3 -10.51 13.0556 -3.10464 -10.51
6
2 0.1976 3.5827 0.0000
12.905 -3 -10.51 12.8795 -3.10748 -10.51
7
2 0.2082 3.6813 0.0000
12.73 -3 -10.51 12.7035 -3.11044 -10.51
8
2 0.2206 3.7840 0.0000
12.555 -3 -10.51 12.5273 -3.11352 -10.51
9 Fuente: Elaboracin propia.
73
Caminara Cuadrpeda 4+2
= 6
0 = 12.38
0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 90
74
Tabla 4.13: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 1.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
1 1 1 1 1 1 1 1 1
0 12.38 3 -10.51 12.3511 3.11674 -10.51 0.2334 3.8913 0.0000
1 12.03 3 -9.25 11.9985 3.12358 -9.25 0.2618 4.1193 0.0000
2 11.68 3 -8.27 11.6456 3.13105 -8.27 0.2945 4.3683 0.0000
3 11.33 3 -7.57 11.2922 3.1392 -7.57 0.3336 4.6400 0.0000
4 10.98 3 -7.15 10.9384 3.14815 -7.15 0.3789 4.9383 0.0000
5 10.63 3 -7.01 10.5841 3.15798 -7.01 0.4318 5.2660 0.0000
6 10.28 3 -7.15 10.2292 3.16882 -7.15 0.4942 5.6273 0.0000
7 9.93 3 -7.57 9.87357 3.1808 -7.57 0.5683 6.0267 0.0000
8 9.58 3 -8.27 9.51704 3.19411 -8.27 0.6572 6.4703 0.0000
9 9.23 3 -9.25 9.15946 3.20893 -9.25 0.7642 6.9643 0.0000
10 8.88 3 -10.51 8.8006 3.2255 -10.51 0.8941 7.5167 0.0000
11 9.055 3 -10.51 8.9802 3.21698 -10.51 0.8261 7.2327 0.0000
12 9.23 3 -10.51 9.15946 3.20893 -10.51 0.7642 6.9643 0.0000
13 9.405 3 -10.51 9.33839 3.20131 -10.51 0.7082 6.7103 0.0000
14 9.58 3 -10.51 9.51704 3.19411 -10.51 0.6572 6.4703 0.0000
15 9.755 3 -10.51 9.69543 3.18728 -10.51 0.6107 6.2427 0.0000
16 9.93 3 -10.51 9.87357 3.1808 -10.51 0.5683 6.0267 0.0000
17 10.105 3 -10.51 10.0515 3.17466 -10.51 0.5294 5.8220 0.0000
18 10.28 3 -10.51 10.2292 3.16882 -10.51 0.4942 5.6273 0.0000
19 10.455 3 -10.51 10.4068 3.16326 -10.51 0.4610 5.4420 0.0000
20 10.63 3 -10.51 10.5841 3.15798 -10.51 0.4318 5.2660 0.0000
21 10.805 3 -10.51 10.7614 3.15294 -10.51 0.4035 5.0980 0.0000
22 10.98 3 -10.51 10.9384 3.14815 -10.51 0.3789 4.9383 0.0000
23 11.155 3 -10.51 11.1154 3.14357 -10.51 0.3550 4.7857 0.0000
24 11.33 3 -10.51 11.2922 3.1392 -10.51 0.3336 4.6400 0.0000
25 11.505 3 -10.51 11.4689 3.13503 -10.51 0.3138 4.5010 0.0000
26 11.68 3 -10.51 11.6456 3.13105 -10.51 0.2945 4.3683 0.0000
27 11.855 3 -10.51 11.8221 3.12723 -10.51 0.2775 4.2410 0.0000
28 12.03 3 -10.51 11.9985 3.12358 -10.51 0.2618 4.1193 0.0000
29 12.205 3 -10.51 12.1749 3.12009 -10.51 0.2466 4.0030 0.0000
Fuente: Elaboracin propia.
75
Tabla 4.14: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 2.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
2 2 2 2 2 2 2 2 2
0 12.38 3 -10.51 12.3511 3.11674 -10.51 0.2334 3.8913 0.0000
1 12.205 3 -10.51 12.1749 3.12009 -10.51 0.2466 4.0030 0.0000
2 12.03 3 -10.51 11.9985 3.12358 -10.51 0.2618 4.1193 0.0000
3 11.855 3 -10.51 11.8221 3.12723 -10.51 0.2775 4.2410 0.0000
4 11.68 3 -10.51 11.6456 3.13105 -10.51 0.2945 4.3683 0.0000
5 11.505 3 -10.51 11.4689 3.13503 -10.51 0.3138 4.5010 0.0000
6 11.33 3 -10.51 11.2922 3.1392 -10.51 0.3336 4.6400 0.0000
7 11.155 3 -10.51 11.1154 3.14357 -10.51 0.3550 4.7857 0.0000
8 10.98 3 -10.51 10.9384 3.14815 -10.51 0.3789 4.9383 0.0000
9 10.805 3 -10.51 10.7614 3.15294 -10.51 0.4035 5.0980 0.0000
10 10.63 3 -10.51 10.5841 3.15798 -10.51 0.4318 5.2660 0.0000
11 10.455 3 -10.51 10.4068 3.16326 -10.51 0.4610 5.4420 0.0000
12 10.28 3 -10.51 10.2292 3.16882 -10.51 0.4942 5.6273 0.0000
13 10.105 3 -10.51 10.0515 3.17466 -10.51 0.5294 5.8220 0.0000
14 9.93 3 -10.51 9.87357 3.1808 -10.51 0.5683 6.0267 0.0000
15 9.755 3 -10.51 9.69543 3.18728 -10.51 0.6107 6.2427 0.0000
16 9.58 3 -10.51 9.51704 3.19411 -10.51 0.6572 6.4703 0.0000
17 9.405 3 -10.51 9.33839 3.20131 -10.51 0.7082 6.7103 0.0000
18 9.23 3 -10.51 9.15946 3.20893 -10.51 0.7642 6.9643 0.0000
19 9.055 3 -10.51 8.9802 3.21698 -10.51 0.8261 7.2327 0.0000
20 8.88 3 -10.51 8.8006 3.2255 -10.51 0.8941 7.5167 0.0000
21 9.23 3 -9.25 9.15946 3.20893 -9.25 0.7642 6.9643 0.0000
22 9.58 3 -8.27 9.51704 3.19411 -8.27 0.6572 6.4703 0.0000
23 9.93 3 -7.57 9.87357 3.1808 -7.57 0.5683 6.0267 0.0000
24 10.28 3 -7.15 10.2292 3.16882 -7.15 0.4942 5.6273 0.0000
25 10.63 3 -7.01 10.5841 3.15798 -7.01 0.4318 5.2660 0.0000
26 10.98 3 -7.15 10.9384 3.14815 -7.15 0.3789 4.9383 0.0000
27 11.33 3 -7.57 11.2922 3.1392 -7.57 0.3336 4.6400 0.0000
28 11.68 3 -8.27 11.6456 3.13105 -8.27 0.2945 4.3683 0.0000
29 12.03 3 -9.25 11.9985 3.12358 -9.25 0.2618 4.1193 0.0000
Fuente: Elaboracin propia.
76
Tabla 4.15: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 3.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
3 3 3 3 3 3 3 3 3
0 12.38 0 -10.51 12.38 0 -10.51 0.0000 0.0000 0.0000
1 12.555 0 -10.51 12.555 0 -10.51 0.0000 0.0000 0.0000
2 12.73 0 -10.51 12.73 0 -10.51 0.0000 0.0000 0.0000
3 12.905 0 -10.51 12.905 0 -10.51 0.0000 0.0000 0.0000
4 13.08 0 -10.51 13.08 0 -10.51 0.0000 0.0000 0.0000
5 13.255 0 -10.51 13.255 0 -10.51 0.0000 0.0000 0.0000
6 13.43 0 -10.51 13.43 0 -10.51 0.0000 0.0000 0.0000
7 13.605 0 -10.51 13.605 0 -10.51 0.0000 0.0000 0.0000
8 13.78 0 -10.51 13.78 0 -10.51 0.0000 0.0000 0.0000
9 13.955 0 -10.51 13.955 0 -10.51 0.0000 0.0000 0.0000
10 14.13 0 -10.51 14.13 0 -10.51 0.0000 0.0000 0.0000
11 13.78 0 -9.25 13.78 0 -9.25 0.0000 0.0000 0.0000
12 13.43 0 -8.27 13.43 0 -8.27 0.0000 0.0000 0.0000
13 13.08 0 -7.57 13.08 0 -7.57 0.0000 0.0000 0.0000
14 12.73 0 -7.15 12.73 0 -7.15 0.0000 0.0000 0.0000
15 12.38 0 -7.01 12.38 0 -7.01 0.0000 0.0000 0.0000
16 12.03 0 -7.15 12.03 0 -7.15 0.0000 0.0000 0.0000
17 11.68 0 -7.57 11.68 0 -7.57 0.0000 0.0000 0.0000
18 11.33 0 -8.27 11.33 0 -8.27 0.0000 0.0000 0.0000
19 10.98 0 -9.25 10.98 0 -9.25 0.0000 0.0000 0.0000
20 10.63 0 -10.51 10.63 0 -10.51 0.0000 0.0000 0.0000
21 10.805 0 -10.51 10.805 0 -10.51 0.0000 0.0000 0.0000
22 10.98 0 -10.51 10.98 0 -10.51 0.0000 0.0000 0.0000
23 11.155 0 -10.51 11.155 0 -10.51 0.0000 0.0000 0.0000
24 11.33 0 -10.51 11.33 0 -10.51 0.0000 0.0000 0.0000
25 11.505 0 -10.51 11.505 0 -10.51 0.0000 0.0000 0.0000
26 11.68 0 -10.51 11.68 0 -10.51 0.0000 0.0000 0.0000
27 11.855 0 -10.51 11.855 0 -10.51 0.0000 0.0000 0.0000
28 12.03 0 -10.51 12.03 0 -10.51 0.0000 0.0000 0.0000
29 12.205 0 -10.51 12.205 0 -10.51 0.0000 0.0000 0.0000
Fuente: Elaboracin propia.
77
Tabla 4.16: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 4.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
4 4 4 4 4 4 4 4 4
0 12.38 0 -10.51 12.38 0 -10.51 0.0000 0.0000 0.0000
1 12.73 0 -9.25 12.73 0 -9.25 0.0000 0.0000 0.0000
2 13.08 0 -8.27 13.08 0 -8.27 0.0000 0.0000 0.0000
3 13.43 0 -7.57 13.43 0 -7.57 0.0000 0.0000 0.0000
4 13.78 0 -7.15 13.78 0 -7.15 0.0000 0.0000 0.0000
5 14.13 0 -7.01 14.13 0 -7.01 0.0000 0.0000 0.0000
6 14.48 0 -7.15 14.48 0 -7.15 0.0000 0.0000 0.0000
7 14.83 0 -7.57 14.83 0 -7.57 0.0000 0.0000 0.0000
8 15.18 0 -8.27 15.18 0 -8.27 0.0000 0.0000 0.0000
9 15.53 0 -9.25 15.53 0 -9.25 0.0000 0.0000 0.0000
10 15.88 0 -10.51 15.88 0 -10.51 0.0000 0.0000 0.0000
11 15.705 0 -10.51 15.705 0 -10.51 0.0000 0.0000 0.0000
12 15.53 0 -10.51 15.53 0 -10.51 0.0000 0.0000 0.0000
13 15.355 0 -10.51 15.355 0 -10.51 0.0000 0.0000 0.0000
14 15.18 0 -10.51 15.18 0 -10.51 0.0000 0.0000 0.0000
15 15.005 0 -10.51 15.005 0 -10.51 0.0000 0.0000 0.0000
16 14.83 0 -10.51 14.83 0 -10.51 0.0000 0.0000 0.0000
17 14.655 0 -10.51 14.655 0 -10.51 0.0000 0.0000 0.0000
18 14.48 0 -10.51 14.48 0 -10.51 0.0000 0.0000 0.0000
19 14.305 0 -10.51 14.305 0 -10.51 0.0000 0.0000 0.0000
20 14.13 0 -10.51 14.13 0 -10.51 0.0000 0.0000 0.0000
21 13.955 0 -10.51 13.955 0 -10.51 0.0000 0.0000 0.0000
22 13.78 0 -10.51 13.78 0 -10.51 0.0000 0.0000 0.0000
23 13.605 0 -10.51 13.605 0 -10.51 0.0000 0.0000 0.0000
24 13.43 0 -10.51 13.43 0 -10.51 0.0000 0.0000 0.0000
25 13.255 0 -10.51 13.255 0 -10.51 0.0000 0.0000 0.0000
26 13.08 0 -10.51 13.08 0 -10.51 0.0000 0.0000 0.0000
27 12.905 0 -10.51 12.905 0 -10.51 0.0000 0.0000 0.0000
28 12.73 0 -10.51 12.73 0 -10.51 0.0000 0.0000 0.0000
29 12.555 0 -10.51 12.555 0 -10.51 0.0000 0.0000 0.0000
Fuente: Elaboracin propia.
78
Tabla 4.17: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 5.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
5 5 5 5 5 5 5 5 5
0 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
1 12.555 -3 -10.51 12.5273 -3.11352 -10.51 0.2206 3.7840 0.0000
2 12.73 -3 -10.51 12.7035 -3.11044 -10.51 0.2082 3.6813 0.0000
3 12.905 -3 -10.51 12.8795 -3.10748 -10.51 0.1976 3.5827 0.0000
4 13.08 -3 -10.51 13.0556 -3.10464 -10.51 0.1865 3.4880 0.0000
5 13.255 -3 -10.51 13.2315 -3.10191 -10.51 0.1773 3.3970 0.0000
6 13.43 -3 -10.51 13.4074 -3.09929 -10.51 0.1683 3.3097 0.0000
7 13.605 -3 -10.51 13.5833 -3.09676 -10.51 0.1595 3.2253 0.0000
8 13.78 -3 -10.51 13.7591 -3.09433 -10.51 0.1517 3.1443 0.0000
9 13.955 -3 -10.51 13.9349 -3.09199 -10.51 0.1440 3.0663 0.0000
10 14.13 -3 -10.51 14.1106 -3.08974 -10.51 0.1373 2.9913 0.0000
11 14.305 -3 -10.51 14.2864 -3.08757 -10.51 0.1300 2.9190 0.0000
12 14.48 -3 -10.51 14.462 -3.08547 -10.51 0.1243 2.8490 0.0000
13 14.655 -3 -10.51 14.6377 -3.08345 -10.51 0.1180 2.7817 0.0000
14 14.83 -3 -10.51 14.8133 -3.0815 -10.51 0.1126 2.7167 0.0000
15 15.005 -3 -10.51 14.9889 -3.07962 -10.51 0.1073 2.6540 0.0000
16 15.18 -3 -10.51 15.1644 -3.0778 -10.51 0.1028 2.5933 0.0000
17 15.355 -3 -10.51 15.3399 -3.07605 -10.51 0.0983 2.5350 0.0000
18 15.53 -3 -10.51 15.5155 -3.07435 -10.51 0.0934 2.4783 0.0000
19 15.705 -3 -10.51 15.6909 -3.07271 -10.51 0.0898 2.4237 0.0000
20 15.88 -3 -10.51 15.8664 -3.07112 -10.51 0.0856 2.3707 0.0000
21 15.53 -3 -9.25 15.5155 -3.07435 -9.25 0.0934 2.4783 0.0000
22 15.18 -3 -8.27 15.1644 -3.0778 -8.27 0.1028 2.5933 0.0000
23 14.83 -3 -7.57 14.8133 -3.0815 -7.57 0.1126 2.7167 0.0000
24 14.48 -3 -7.15 14.462 -3.08547 -7.15 0.1243 2.8490 0.0000
25 14.13 -3 -7.01 14.1106 -3.08974 -7.01 0.1373 2.9913 0.0000
26 13.78 -3 -7.15 13.7591 -3.09433 -7.15 0.1517 3.1443 0.0000
27 13.43 -3 -7.57 13.4074 -3.09929 -7.57 0.1683 3.3097 0.0000
28 13.08 -3 -8.27 13.0556 -3.10464 -8.27 0.1865 3.4880 0.0000
29 12.73 -3 -9.25 12.7035 -3.11044 -9.25 0.2082 3.6813 0.0000
Fuente: Elaboracin propia.
79
Tabla 4.18: Fidelidad de Recorrido en Trayectoria / Caminata Cuadrpeda 4+2 -
Extremidad 6.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
6 6 6 6 6 6 6 6 6
0 12.38 -3 -10.51 12.3511 -3.11674 -10.51 0.2334 3.8913 0.0000
1 12.205 -3 -10.51 12.1749 -3.12009 -10.51 0.2466 4.0030 0.0000
2 12.03 -3 -10.51 11.9985 -3.12358 -10.51 0.2618 4.1193 0.0000
3 11.855 -3 -10.51 11.8221 -3.12723 -10.51 0.2775 4.2410 0.0000
4 11.68 -3 -10.51 11.6456 -3.13105 -10.51 0.2945 4.3683 0.0000
5 11.505 -3 -10.51 11.4689 -3.13503 -10.51 0.3138 4.5010 0.0000
6 11.33 -3 -10.51 11.2922 -3.1392 -10.51 0.3336 4.6400 0.0000
7 11.155 -3 -10.51 11.1154 -3.14357 -10.51 0.3550 4.7857 0.0000
8 10.98 -3 -10.51 10.9384 -3.14815 -10.51 0.3789 4.9383 0.0000
9 10.805 -3 -10.51 10.7614 -3.15294 -10.51 0.4035 5.0980 0.0000
1 10.63 -3 -10.51 10.5841 -3.15798 -10.51 0.4318 5.2660 0.0000
0
1 0.3789 4.9383 0.0000
10.98 -3 -9.25 10.9384 -3.14815 -9.25
1
1 0.3336 4.6400 0.0000
11.33 -3 -8.27 11.2922 -3.1392 -8.27
2
1 0.2945 4.3683 0.0000
11.68 -3 -7.57 11.6456 -3.13105 -7.57
3
1 0.2618 4.1193 0.0000
12.03 -3 -7.15 11.9985 -3.12358 -7.15
4
1 0.2334 3.8913 0.0000
12.38 -3 -7.01 12.3511 -3.11674 -7.01
5
1 0.2082 3.6813 0.0000
12.73 -3 -7.15 12.7035 -3.11044 -7.15
6
1 0.1865 3.4880 0.0000
13.08 -3 -7.57 13.0556 -3.10464 -7.57
7
1 0.1683 3.3097 0.0000
13.43 -3 -8.27 13.4074 -3.09929 -8.27
8
1 0.1517 3.1443 0.0000
13.78 -3 -9.25 13.7591 -3.09433 -9.25
9
2 0.1373 2.9913 0.0000
14.13 -3 -10.51 14.1106 -3.08974 -10.51
0
2 0.1440 3.0663 0.0000
13.955 -3 -10.51 13.9349 -3.09199 -10.51
1
2 0.1517 3.1443 0.0000
13.78 -3 -10.51 13.7591 -3.09433 -10.51
2
2 0.1595 3.2253 0.0000
13.605 -3 -10.51 13.5833 -3.09676 -10.51
3
2 0.1683 3.3097 0.0000
13.43 -3 -10.51 13.4074 -3.09929 -10.51
4
2 0.1773 3.3970 0.0000
13.255 -3 -10.51 13.2315 -3.10191 -10.51
5
2 0.1865 3.4880 0.0000
13.08 -3 -10.51 13.0556 -3.10464 -10.51
6
2 0.1976 3.5827 0.0000
12.905 -3 -10.51 12.8795 -3.10748 -10.51
7
2 0.2082 3.6813 0.0000
12.73 -3 -10.51 12.7035 -3.11044 -10.51
8
2 0.2206 3.7840 0.0000
12.555 -3 -10.51 12.5273 -3.11352 -10.51
9 Fuente: Elaboracin propia.
80
Caminara Pentpoda
= 5
0 = 12.38
0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 35
81
Tabla 4.19: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 1.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
1 1 1 1 1 1 1 1 1
0 12.38 4 -10.51 12.2876 4.27532 -10.51 0.7464 6.8830 0.0000
1 12.4374 3.91808 -10.51 12.3536 4.1746 -10.51 0.6738 6.5471 0.0000
2 12.4947 3.83617 -10.51 12.4189 4.07486 -10.51 0.6067 6.2221 0.0000
3 12.5521 3.75425 -10.51 12.4836 3.97606 -10.51 0.5457 5.9082 0.0000
4 12.6094 3.67234 -10.51 12.5477 3.87816 -10.51 0.4893 5.6046 0.0000
5 12.6668 3.59042 -10.51 12.6112 3.78113 -10.51 0.4389 5.3116 0.0000
6 12.7241 3.50851 -10.51 12.6742 3.68494 -10.51 0.3922 5.0286 0.0000
7 12.7815 3.42659 -10.51 12.7367 3.58956 -10.51 0.3505 4.7560 0.0000
8 12.8389 3.34468 -10.51 12.7988 3.49495 -10.51 0.3123 4.4928 0.0000
9 12.8962 3.26276 -10.51 12.8604 3.40108 -10.51 0.2776 4.2394 0.0000
10 12.9536 3.18085 -10.51 12.9217 3.30792 -10.51 0.2463 3.9948 0.0000
11 12.6668 3.59042 -8.91 12.6112 3.78113 -8.91 0.4389 5.3116 0.0000
12 12.38 4 -8.11 12.2876 4.27532 -8.11 0.7464 6.8830 0.0000
13 12.0932 4.40958 -8.11 11.9457 4.79484 -8.11 1.2197 8.7369 0.0000
14 11.8064 4.81915 -8.91 11.5781 5.34459 -8.91 1.9337 10.9032 0.0000
15 11.5196 5.22873 -10.51 11.1748 5.92999 -10.51 2.9932 13.4117 0.0000
16 11.577 5.14681 -10.51 11.2589 5.80978 -10.51 2.7477 12.8812 0.0000
17 11.6344 5.0649 -10.51 11.3412 5.69118 -10.51 2.5201 12.3651 0.0000
18 11.6917 4.98298 -10.51 11.4217 5.57415 -10.51 2.3093 11.8638 0.0000
19 11.7491 4.90107 -10.51 11.5006 5.45863 -10.51 2.1151 11.3763 0.0000
20 11.8064 4.81915 -10.51 11.5781 5.34459 -10.51 1.9337 10.9032 0.0000
21 11.8638 4.73724 -10.51 11.6541 5.23196 -10.51 1.7676 10.4432 0.0000
22 11.9211 4.65532 -10.51 11.7288 5.12072 -10.51 1.6131 9.9972 0.0000
23 11.9785 4.57341 -10.51 11.8022 5.01082 -10.51 1.4718 9.5642 0.0000
24 12.0359 4.49149 -10.51 11.8745 4.9022 -10.51 1.3410 9.1442 0.0000
25 12.0932 4.40958 -10.51 11.9457 4.79484 -10.51 1.2197 8.7369 0.0000
26 12.1506 4.32766 -10.51 12.0159 4.68868 -10.51 1.1086 8.3422 0.0000
27 12.2079 4.24575 -10.51 12.0851 4.58369 -10.51 1.0059 7.9595 0.0000
28 12.2653 4.16383 -10.51 12.1534 4.47982 -10.51 0.9123 7.5889 0.0000
29 12.3226 4.08192 -10.51 12.2209 4.37705 -10.51 0.8253 7.2302 0.0000
Fuente: Elaboracin propia.
82
Tabla 4.20: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 2.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
2 2 2 2 2 2 2 2 2
0 12.38 4 -10.51 12.2876 4.27532 -10.51 0.7464 6.8830 0.0000
1 12.3226 3.91808 -10.51 12.2365 4.17934 -10.51 0.6987 6.6681 0.0000
2 12.2653 3.83617 -10.51 12.1851 4.08377 -10.51 0.6539 6.4544 0.0000
3 12.2079 3.75425 -10.51 12.1334 3.98861 -10.51 0.6103 6.2425 0.0000
4 12.1506 3.67234 -10.51 12.0814 3.89384 -10.51 0.5695 6.0316 0.0000
5 12.0932 3.59042 -10.51 12.0292 3.79947 -10.51 0.5292 5.8224 0.0000
6 12.0359 3.50851 -10.51 11.9767 3.7055 -10.51 0.4919 5.6146 0.0000
7 11.9785 3.42659 -10.51 11.9239 3.61194 -10.51 0.4558 5.4092 0.0000
8 11.9211 3.34468 -10.51 11.8709 3.51877 -10.51 0.4211 5.2050 0.0000
9 11.8638 3.26276 -10.51 11.8177 3.42599 -10.51 0.3886 5.0028 0.0000
10 11.8064 3.18085 -10.51 11.7642 3.33361 -10.51 0.3574 4.8025 0.0000
11 11.7491 3.09893 -10.51 11.7105 3.24163 -10.51 0.3285 4.6048 0.0000
12 11.6917 3.01702 -10.51 11.6566 3.15003 -10.51 0.3002 4.4087 0.0000
13 11.6344 2.9351 -10.51 11.6024 3.05882 -10.51 0.2750 4.2152 0.0000
14 11.577 2.85319 -10.51 11.5481 2.968 -10.51 0.2496 4.0239 0.0000
15 11.5196 2.77127 -10.51 11.4935 2.87756 -10.51 0.2266 3.8354 0.0000
16 11.4623 2.68936 -10.51 11.4388 2.7875 -10.51 0.2050 3.6492 0.0000
17 11.4049 2.60744 -10.51 11.3839 2.69781 -10.51 0.1841 3.4659 0.0000
18 11.3476 2.52553 -10.51 11.3288 2.6085 -10.51 0.1657 3.2853 0.0000
19 11.2902 2.44361 -10.51 11.2735 2.51956 -10.51 0.1479 3.1081 0.0000
20 11.2328 2.3617 -10.51 11.2181 2.43098 -10.51 0.1309 2.9335 0.0000
21 11.1755 2.27978 -10.51 11.1625 2.34276 -10.51 0.1163 2.7625 0.0000
22 11.1181 2.19787 -10.51 11.1067 2.2549 -10.51 0.1025 2.5948 0.0000
23 11.0608 2.11595 -10.51 11.0508 2.16738 -10.51 0.0904 2.4306 0.0000
24 11.0034 2.03404 -10.51 10.9948 2.08021 -10.51 0.0782 2.2699 0.0000
25 10.9461 1.95212 -10.51 10.9386 1.99338 -10.51 0.0685 2.1136 0.0000
26 11.2328 2.3617 -8.91 11.2181 2.43098 -8.91 0.1309 2.9335 0.0000
27 11.5196 2.77127 -8.11 11.4935 2.87756 -8.11 0.2266 3.8354 0.0000
28 11.8064 3.18085 -8.11 11.7642 3.33361 -8.11 0.3574 4.8025 0.0000
29 12.0932 3.59042 -8.91 12.0292 3.79947 -8.91 0.5292 5.8224 0.0000
Fuente: Elaboracin propia.
83
Tabla 4.21: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 3.
Posicin Calculada Posicin Medida Error Relativo Porcentual
%
3 3 3 3 3 3 3
3 3
84
Tabla 4.22: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 4.
Posicin Calculada Posicin Medida Error Relativo Porcentual
%
4 4 4 4 4 4 4
4 4
85
Tabla 4.23: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 5.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
5 5 5 5 5 5 5 5 5
0 12.38 -4 -10.51 12.2876 -4.27532 -10.51 0.7464 6.8830 0.0000
1 12.0932 -3.59042 -8.91 12.0292 -3.79947 -8.91 0.5292 5.8224 0.0000
2 11.8064 -3.18085 -8.11 11.7642 -3.33361 -8.11 0.3574 4.8025 0.0000
3 11.5196 -2.77127 -8.11 11.4935 -2.87756 -8.11 0.2266 3.8354 0.0000
4 11.2328 -2.3617 -8.91 11.2181 -2.43098 -8.91 0.1309 2.9335 0.0000
5 10.9461 -1.95212 -10.51 10.9386 -1.99338 -10.51 0.0685 2.1136 0.0000
6 11.0034 -2.03404 -10.51 10.9948 -2.08021 -10.51 0.0782 2.2699 0.0000
7 11.0608 -2.11595 -10.51 11.0508 -2.16738 -10.51 0.0904 2.4306 0.0000
8 11.1181 -2.19787 -10.51 11.1067 -2.2549 -10.51 0.1025 2.5948 0.0000
9 11.1755 -2.27978 -10.51 11.1625 -2.34276 -10.51 0.1163 2.7625 0.0000
10 11.2328 -2.3617 -10.51 11.2181 -2.43098 -10.51 0.1309 2.9335 0.0000
11 11.2902 -2.44361 -10.51 11.2735 -2.51956 -10.51 0.1479 3.1081 0.0000
12 11.3476 -2.52553 -10.51 11.3288 -2.6085 -10.51 0.1657 3.2853 0.0000
13 11.4049 -2.60744 -10.51 11.3839 -2.69781 -10.51 0.1841 3.4659 0.0000
14 11.4623 -2.68936 -10.51 11.4388 -2.7875 -10.51 0.2050 3.6492 0.0000
15 11.5196 -2.77127 -10.51 11.4935 -2.87756 -10.51 0.2266 3.8354 0.0000
16 11.577 -2.85319 -10.51 11.5481 -2.968 -10.51 0.2496 4.0239 0.0000
17 11.6344 -2.9351 -10.51 11.6024 -3.05882 -10.51 0.2750 4.2152 0.0000
18 11.6917 -3.01702 -10.51 11.6566 -3.15003 -10.51 0.3002 4.4087 0.0000
19 11.7491 -3.09893 -10.51 11.7105 -3.24163 -10.51 0.3285 4.6048 0.0000
20 11.8064 -3.18085 -10.51 11.7642 -3.33361 -10.51 0.3574 4.8025 0.0000
21 11.8638 -3.26276 -10.51 11.8177 -3.42599 -10.51 0.3886 5.0028 0.0000
22 11.9211 -3.34468 -10.51 11.8709 -3.51877 -10.51 0.4211 5.2050 0.0000
23 11.9785 -3.42659 -10.51 11.9239 -3.61194 -10.51 0.4558 5.4092 0.0000
24 12.0359 -3.50851 -10.51 11.9767 -3.7055 -10.51 0.4919 5.6146 0.0000
25 12.0932 -3.59042 -10.51 12.0292 -3.79947 -10.51 0.5292 5.8224 0.0000
26 12.1506 -3.67234 -10.51 12.0814 -3.89384 -10.51 0.5695 6.0316 0.0000
27 12.2079 -3.75425 -10.51 12.1334 -3.98861 -10.51 0.6103 6.2425 0.0000
28 12.2653 -3.83617 -10.51 12.1851 -4.08377 -10.51 0.6539 6.4544 0.0000
29 12.3226 -3.91808 -10.51 12.2365 -4.17934 -10.51 0.6987 6.6681 0.0000
Fuente: Elaboracin propia.
86
Tabla 4.24: Fidelidad de Recorrido en Trayectoria / Caminata Pentpoda - Extremidad 6.
Posicin Calculada Posicin Medida Error Relativo Porcentual %
6 6 6 6 6 6 6 6 6
0 12.38 -4 -10.51 12.2876 -4.27532 -10.51 0.7464 6.8830 0.0000
1 12.3226 -4.08192 -10.51 12.2209 -4.37705 -10.51 0.8253 7.2302 0.0000
2 12.2653 -4.16383 -10.51 12.1534 -4.47982 -10.51 0.9123 7.5889 0.0000
3 12.2079 -4.24575 -10.51 12.0851 -4.58369 -10.51 1.0059 7.9595 0.0000
4 12.1506 -4.32766 -10.51 12.0159 -4.68868 -10.51 1.1086 8.3422 0.0000
5 12.0932 -4.40958 -10.51 11.9457 -4.79484 -10.51 1.2197 8.7369 0.0000
6 12.0359 -4.49149 -10.51 11.8745 -4.9022 -10.51 1.3410 9.1442 0.0000
7 11.9785 -4.57341 -10.51 11.8022 -5.01082 -10.51 1.4718 9.5642 0.0000
8 11.9211 -4.65532 -10.51 11.7288 -5.12072 -10.51 1.6131 9.9972 0.0000
9 11.8638 -4.73724 -10.51 11.6541 -5.23196 -10.51 1.7676 10.4432 0.0000
10 11.8064 -4.81915 -10.51 11.5781 -5.34459 -10.51 1.9337 10.9032 0.0000
11 11.7491 -4.90107 -10.51 11.5006 -5.45863 -10.51 2.1151 11.3763 0.0000
12 11.6917 -4.98298 -10.51 11.4217 -5.57415 -10.51 2.3093 11.8638 0.0000
13 11.6344 -5.0649 -10.51 11.3412 -5.69118 -10.51 2.5201 12.3651 0.0000
14 11.577 -5.14681 -10.51 11.2589 -5.80978 -10.51 2.7477 12.8812 0.0000
15 11.5196 -5.22873 -10.51 11.1748 -5.92999 -10.51 2.9932 13.4117 0.0000
16 11.8064 -4.81915 -8.91 11.5781 -5.34459 -8.91 1.9337 10.9032 0.0000
17 12.0932 -4.40958 -8.11 11.9457 -4.79484 -8.11 1.2197 8.7369 0.0000
18 12.38 -4 -8.11 12.2876 -4.27532 -8.11 0.7464 6.8830 0.0000
19 12.6668 -3.59042 -8.91 12.6112 -3.78113 -8.91 0.4389 5.3116 0.0000
20 12.9536 -3.18085 -10.51 12.9217 -3.30792 -10.51 0.2463 3.9948 0.0000
21 12.8962 -3.26276 -10.51 12.8604 -3.40108 -10.51 0.2776 4.2394 0.0000
22 12.8389 -3.34468 -10.51 12.7988 -3.49495 -10.51 0.3123 4.4928 0.0000
23 12.7815 -3.42659 -10.51 12.7367 -3.58956 -10.51 0.3505 4.7560 0.0000
24 12.7241 -3.50851 -10.51 12.6742 -3.68494 -10.51 0.3922 5.0286 0.0000
25 12.6668 -3.59042 -10.51 12.6112 -3.78113 -10.51 0.4389 5.3116 0.0000
26 12.6094 -3.67234 -10.51 12.5477 -3.87816 -10.51 0.4893 5.6046 0.0000
27 12.5521 -3.75425 -10.51 12.4836 -3.97606 -10.51 0.5457 5.9082 0.0000
28 12.4947 -3.83617 -10.51 12.4189 -4.07486 -10.51 0.6067 6.2221 0.0000
29 12.4374 -3.91808 -10.51 12.3536 -4.1746 -10.51 0.6738 6.5471 0.0000
Fuente: Elaboracin propia.
87
CAPTULO V
88
5. DISCUSIN DE RESULTADOS
89
CAPTULO VI
90
6. CONCLUSIONES
91
CAPTULO VII
92
7. RECOMENDACIONES
Para brindar una mayor resistencia y menor peso en diseo mecnico, debe optarse
por materiales tales sea fibra de carbono o policarbonato, teniendo en consideracin
poseer o acceder la maquinaria necesaria para la construccin de piezas.
Si se pretende desenvolver la plataforma hexpoda sobre un terreno no uniforme,
ser necesario el uso de sensores para la deteccin de superficie; esto no alterar la
formulacin del anlisis, solo convertir al parmetro 0 en un valor variable.
Para mejorar el equilibro esttico en la plataforma (polgono de soporte), se debe
aplicar un offset de origen de valor positivo a las extremidades 1,2 y de valor
negativo a las extremidades 5,6.
93
CAPTULO VIII
94
8. REFERENCIAS BIBLIOGRFICAS
Kuman V and Waldron K., A Review of Research on Walking Vehicles, The Robotics
Review 1, The MIT Press, 1989.
Maki K. Habbib, Bioinspiration and Robotics: Walking and Climbing Robots, 2007,
p5.
Marc H. Raibert, Legged Robots that Balance, the MIT Press, 1986.
95
Denavit-Hartenberg, Revista Iberoamericana de Automtica e Informtica
Industrial, p374.
Shibendu Shekhar Roy, Ajay Kumar Singh and Dilip Kumar Pratihar, Analysis of Six-
legged Walking Robots, 14th National Conference on Machines and
Mechanisms, 2009, p3.
Tsu-Tian Lee, Ching-Ming Liao, and Ting-Kou Chen, On the Stability Properties of
Hexapod Tripod Gait, IEEE Journal of Robotics and Automation, Vol. 4. No. 4.
August, 1988, p427.
Lianqing Yu Yujin Wang, Weijun Tao, Gait Analysis and Implementation of a Simple
Quadruped Robot, 2nd International Conference on Industrial Mechatronics and
Automation, 2010, pp431-432.
G. Clark Haynes, Alfred A. Rizzi, Gaits and Gait Transitions for Legged Robots, IEEE
International Conference on Robotics and Automation - Florida, 2006, p1121.
http://www.ai.mit.edu/projects/leglab/robots/monopod/monopod.html
Fecha de consulta: 31 de Octubre del 2013
96
http://www.computerhistory.org/collections/catalog/102716353
Fecha de consulta: 14 de Noviembre del 2013
http://www.bostondynamics.com/robot_bigdog.html
Fecha de consulta: 1 de Septiembre del 2013
http://help.solidworks.com/2011/spanish/SolidWorks/cosmosxpresshelp/AllContent/S
olidWorks/NonCore/SimulationXpress/c_Why_Analyze_.html
Fecha de consulta: 22 de Marzo del 2013
http://mbed.org/handbook/Homepage
Fecha de consulta: 27 de Junio del 2013
97
ANEXOS
98
ANEXO N 1
Cdigos de MCU MBED: Tripod Gait Embedded
99
Anexo 1: Cdigos de MCU MBED: Tripod Gait Embedded
#include "mbed.h"
#include "MobileLCD.h"
#include "Ping.h"
Serial PC(USBTX,USBRX);
Serial RF(p13,p14);
Serial SC(p28,p27);
PwmOut SERVO1(p21);
PwmOut SERVO2(p22);
PwmOut SERVO3(p23);
PwmOut SERVO4(p24);
PwmOut SERVO5(p25);
PwmOut SERVO6(p26);
DigitalOut myled(LED1);
Ping Ping(p10);
int distancia;
void sonar();
int pos[6]={157,138,157,138,157,138};
void servomov(){
SERVO1.pulsewidth_us(pos[0]*10);
SERVO2.pulsewidth_us(pos[1]*10);
SERVO3.pulsewidth_us(pos[2]*10);
SERVO4.pulsewidth_us(pos[3]*10);
SERVO5.pulsewidth_us(pos[4]*10);
SERVO6.pulsewidth_us(pos[5]*10);
}
100
const char Forward[320]={
167,159,186,143,136,151,144,147,148,150,162,140,175,109,157,151,115,159,144,159,
174,167,185,143,136,151,136,138,157,142,163,140,177,112,155,149,117,161,144,159,
178,173,183,143,136,151,130,132,163,135,163,140,180,114,153,147,119,163,144,159,
180,177,182,143,137,151,127,128,167,131,164,140,182,117,151,145,122,165,144,159,
179,178,181,144,137,151,126,127,168,130,164,140,185,120,149,143,124,167,144,159,
177,176,179,144,137,151,127,128,168,131,165,140,187,122,147,141,126,169,144,159,
173,172,178,144,136,151,130,132,166,135,166,140,190,125,145,139,128,172,144,159,
167,166,177,144,136,151,136,138,161,141,166,140,193,127,143,138,130,174,144,159,
157,157,176,144,136,151,144,147,153,150,167,140,196,129,141,136,132,176,144,159,
159,157,169,153,144,160,144,147,153,150,158,148,193,127,143,138,130,174,144,159,
160,158,165,159,150,166,144,147,153,150,153,155,190,125,145,139,128,172,144,159,
161,158,164,162,153,170,143,147,152,150,149,159,187,122,147,141,126,169,144,159,
163,158,164,163,154,171,143,147,151,150,147,160,185,120,149,143,124,167,144,159,
164,158,166,162,153,170,143,147,151,150,148,159,182,117,151,145,122,165,144,159,
165,158,170,158,150,166,144,147,150,150,150,155,180,114,153,147,119,163,144,159,
166,158,177,151,144,160,144,147,149,150,155,149,177,112,155,149,117,161,144,159};
101
const char Rotate[80]={
170,185,165,150,140,150,150,120,145,125,156,150,164,144,138,162,150,152,150,150,
170,160,165,150,140,150,150,145,145,150,156,150,164,144,138,162,150,152,150,150,
170,160,165,175,140,175,150,145,145,150,156,175,152,156,162,138,138,164,150,150,
170,160,165,150,140,150,150,145,145,150,156,150,152,156,162,138,138,164,150,150};
int T=180;
void MOV_UP();
void MOV_LEFT();
void ROTATE();
void DEFAULT();
void check(){
if (action=='R'){ if (inc1==16 or inc1==-1) inc1=0; MOV_UP(); inc1++; }
if (action=='V'){ if (inc1==-1 or inc1==16) inc1=15; MOV_UP(); inc1--; }
void welcome(){
lcd.background(WHITE);
lcd.cls();
lcd.fill(2, 5, 128, 8, GREEN);
102
lcd.fill(50, 1, 4, 128, BLUE);
lcd.locate(0,4);
lcd.printf(" CRIXUS-V2.30 ");
lcd.locate(0,14);
lcd.printf("G. Evangelista");
}
int main() {
RF.baud(19200);
PC.baud(19200);
SC.baud(19200);
SERVO1.period_us(20000);
servomov();
welcome();
while(1){
//if (PC.readable()) action=PC.getc();
if (RF.readable()) action=RF.getc();
check();
//sonar();
}
}
void MOV_UP(){
for (int i=0; i<12; i++) { SC.putc('B'); SC.putc(i); SC.putc(Forward[20*inc1+i]); }
for (int i=0; i<=1; i++) { SC.putc('B'); SC.putc(i+12); SC.putc(Forward[20*inc1+i+18]); }
SERVO1.pulsewidth_us(Forward[20*inc1+12]*10);
SERVO2.pulsewidth_us(Forward[20*inc1+13]*10);
SERVO3.pulsewidth_us(Forward[20*inc1+14]*10);
SERVO4.pulsewidth_us(Forward[20*inc1+15]*10);
SERVO5.pulsewidth_us(Forward[20*inc1+16]*10);
SERVO6.pulsewidth_us(Forward[20*inc1+17]*10);
wait_ms(T-130);
}
103
void MOV_LEFT(){
for (int i=0; i<12; i++) { SC.putc('B'); SC.putc(i); SC.putc(Left[20*inc2+i]); }
for (int i=0; i<=1; i++) { SC.putc('B'); SC.putc(i+12); SC.putc(Left[20*inc2+i+18]); }
SERVO1.pulsewidth_us(Left[20*inc2+12]*10);
SERVO2.pulsewidth_us(Left[20*inc2+13]*10);
SERVO3.pulsewidth_us(Left[20*inc2+14]*10);
SERVO4.pulsewidth_us(Left[20*inc2+15]*10);
SERVO5.pulsewidth_us(Left[20*inc2+16]*10);
SERVO6.pulsewidth_us(Left[20*inc2+17]*10);
wait_ms(T-130);
}
void ROTATE(){
for (int i=0; i<12; i++) { SC.putc('B'); SC.putc(i); SC.putc(Rotate[20*inc5+i]); }
for (int i=0; i<=1; i++) { SC.putc('B'); SC.putc(i+12); SC.putc(Rotate[20*inc5+i+18]); }
SERVO1.pulsewidth_us(Rotate[20*inc5+12]*10);
SERVO2.pulsewidth_us(Rotate[20*inc5+13]*10);
SERVO3.pulsewidth_us(Rotate[20*inc5+14]*10);
SERVO4.pulsewidth_us(Rotate[20*inc5+15]*10);
SERVO5.pulsewidth_us(Rotate[20*inc5+16]*10);
SERVO6.pulsewidth_us(Rotate[20*inc5+17]*10);
wait_ms(T);
}
void DEFAULT(){
for (int i=0; i<12; i++) { SC.putc('B'); SC.putc(i); SC.putc(Default[i]); }
for (int i=0; i<=1; i++) { SC.putc('B'); SC.putc(i+12); SC.putc(Default[18+i]); }
SERVO1.pulsewidth_us(Default[12]*10);
SERVO2.pulsewidth_us(Default[13]*10);
SERVO3.pulsewidth_us(Default[14]*10);
SERVO4.pulsewidth_us(Default[15]*10);
SERVO5.pulsewidth_us(Default[16]*10);
SERVO6.pulsewidth_us(Default[17]*10);
wait_ms(T);
}
104
void sonar(){
Ping.Send();
wait_ms(30);
distancia= Ping.Read_cm();
if (distancia<170) { printf("Distancia: %3d \r\n", distancia); }
}
105
ANEXO N 2
Cdigos de MCU MBED: Direct Control
106
Anexo 2: Cdigos de MCU MBED: Direct Control
#include "mbed.h"
#include "MobileLCD.h"
Serial PC(USBTX,USBRX);
Serial RF(p13,p14);
Serial SC(p28,p27);
PwmOut SERVO1(p21);
PwmOut SERVO2(p22);
PwmOut SERVO3(p23);
PwmOut SERVO4(p24);
PwmOut SERVO5(p25);
PwmOut SERVO6(p26);
DigitalOut myled(LED1);
int pos[8]={157,138,157,138,157,138,0,0};
char tramain[3]={0,0,0};
void servopos(){
if (tramain[0]=='C'){ pos[tramain[1]]=tramain[2]; myled=1;}
else {myled=0;}
}
void servomov(){
SERVO1.pulsewidth_us(pos[0]*10);
SERVO2.pulsewidth_us(pos[1]*10);
SERVO3.pulsewidth_us(pos[2]*10);
SERVO4.pulsewidth_us(pos[3]*10);
SERVO5.pulsewidth_us(pos[4]*10);
SERVO6.pulsewidth_us(pos[5]*10);
}
107
void presentacion(){
lcd.background(WHITE);
lcd.cls();
lcd.fill(2, 5, 128, 8, GREEN);
lcd.fill(50, 1, 4, 128, BLUE); //
lcd.locate(0,4);
lcd.printf(" RGEE-UPAO");
lcd.locate(0,14);
lcd.printf(" G.Evangelista");
for (int i=0; i<130; i++) {
lcd.pixel(80 + sin((float)i / 5.0+3.14)*10,i,BLACK);
}
for (int j=0; j<130; j++) {
lcd.pixel(75 + sin((float)j / 5.0)*10,j,RED);
}
}
int main() {
RF.baud(19200);
SC.baud(19200);
PC.baud(19200);
SERVO1.period_us(20000);
presentacion();
servomov();
while(1){
if (PC.readable()) {
tramain[0]=PC.getc(); tramain[1]=PC.getc();
tramain[2]=PC.getc(); servopos();
}
SC.putc(tramain[0]); SC.putc(tramain[1]); SC.putc(tramain[2]);
servomov();
}
}
108
ANEXO N 3
Cdigo de Servo Controladora
109
Anexo 3: Cdigo de Servo Controladora
#include <18F4550.h>
#use delay(clock=48000000)
#use rs232(baud=19200, xmit=PIN_C6, rcv=PIN_C7)
#define FAC 15
int8 inc3=0;
int8 inc4=0;
#define SIZE 16
int16 pos[SIZE]={175,144,145,150,175,144,150,150,
175,144,145,150,157,138,157,138};
int8 E;
void servopos(){
if (tramain[0]=='B') pos[tramain[1]]=tramain[2];
else if (tramain[0]=='E') E=tramain[1];
else if (tramain[0]=='A') for(inc2=0;inc2<SIZE;inc2++)
pos[inc2]=tramain[2];
}
110
#int_RDA
void RDA_isr(void)
{
tramain[inc1]=buffer;
inc1++;
if (inc1==3) {inc1=0; servopos();}
}
#int_CCP1
void CCP1_isr(void)
{
if (inc3==7) { portB=1*E; inc3=0; }
else { portB=portB<<1; inc3++;}
CCP_1=pos[inc3]*FAC;
}
#int_CCP2
void CCP2_isr(void)
{
if (inc4==7) { portD=1*E; inc4=0; }
else { portD=portD*E<<1; inc4++;}
CCP_2=pos[inc4+8]*FAC;
}
main(void){
set_tris_A(0); portA=0;
set_tris_B(0); portB=1;
set_tris_D(0); portD=1;
set_tris_E(0); portE=0;
E=1;
SETUP_ADC(ADC_OFF); SETUP_ADC_PORTS(NO_ANALOGS);
SETUP_TIMER_1(T1_INTERNAL|T1_DIV_BY_8);
SETUP_CCP1(CCP_COMPARE_RESET_TIMER);
ENABLE_INTERRUPTS(INT_CCP1);
111
SETUP_TIMER_3(T3_INTERNAL|T3_DIV_BY_8|T3_CCP2);
SETUP_CCP2(CCP_COMPARE_RESET_TIMER);
ENABLE_INTERRUPTS(INT_CCP2);
ENABLE_INTERRUPTS(INT_RDA);
ENABLE_INTERRUPTS(GLOBAL);
while(1)
{
}
}
112
ANEXO N 4
Generalidades del Mbed NXP LPC1768
113
Anexo 4: Generalidades del mbed NXP LPC1768
Tabla de contenidos
1. Visin de conjunto
2. Caractersticas
3. Herramientas y software
4. Referencia tcnica
5. Firmware
6. Esquemas y Hojas de Datos
7. Ver tambin
Visin de conjunto
Los microcontroladores mbed son una serie de consejos de desarrollo de microcontroladores
ARM diseados para prototipado rpido.
114
Se basa en el NXP LPC1768, con un ncleo ARM Cortex-M3 de 32 bits funcionando a
96MHz. Incluye 512KB FLASH, 32 KB de RAM y un montn de interfaces, incluyendo Ethernet
incorporada, interfaces USB Host y Device, CAN, SPI, I2C, ADC, DAC, PWM y otras E / S. El
pinout de arriba muestra las interfaces de uso comn y sus ubicaciones. Tenga en cuenta que
todos los pines numerados (P5-P30) tambin se pueden utilizar como la
digitalina y DIGITALOUT interfaces.
Caractersticas
NXP LPC1768 MCU
o ARM de alto rendimiento Cortex -M3 Core
o 96MHz, 32KB RAM, FLASH 512KB
o Ethernet, USB Host / Device, 2xSPI, 2xI2C, 3xUART, CAN, 6xPWM, 6xADC, GPIO
Prototipos de factor de forma
o 40-pin paquete DIP 0.1 "pitch, 54x26mm
o 5V USB o suministro 4.5-9V
o Built-in USB drag-and-drop FLASH programador
mbed.org Desarrollador Web
o Ligero Compiler Online
o Alto nivel de C / C + + SDK
o Libro de cocina de las bibliotecas y los proyectos publicados
115
Herramientas y software
Los microcontroladores mbed son soportados por el sitio web para desarrolladores mbed.org,
que incluye un compilador de lnea ligera para un acceso instantneo a su entorno de trabajo
en Windows, Linux o Mac OS X.
El mbed NXP LPC1768 es uno de una serie de microcontroladores mbed empaquetados como
un pequeo DIP de 40 pines, 0.1 pulgadas de paso de factor de forma por lo que es conveniente
para los prototipos con protoboard sin soldadura, stripboard, ya travs de agujeros PCB. Incluye
una interfaz de programacin USB incorporado que es tan simple como usar una unidad flash
USB. Basta conectarlo, deje caer en un programa binario ARM, y su marcha y funcionando! Es
nuestro consejo ofrecido ms completo y es ideal para todo tipo de prototipos general. Si no
ests seguro de qu mbed de conseguir, esta es tu mejor opcin.
Referencia tcnica
Potencia
Pasadores
116
Firmware
mbed Firmware Interface
Ver tambin
mbed NXP LPC1768 Cmo empezar
Explora la plataforma mbed
117
ANEXO N 5
Generalidades del dispositivo 18F4550
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Anexo 5: Generalidades del dispositivo 18F4550
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120
121
122
123
124
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PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO 167
Abstract This paper focuses on translational motion analysis the locomotion of the robot can be classified into dynamic, such
of a hexapod walking robot, for this, use is made of conventions as running or jumping, and static, such as walking [1].
published in 2010 by Xilun Ding, Zhiying Wang, Alberto Rovetta Is because that this article focuses on the analysis of
and J.M. Zhu, which are support for the parameters of this study. statically stable translational motion of a hexapod robot in order
The analysis is divided in three parts: step phases, locomotion of
to define and parameterize four different gaits: Tripod,
movement and walking gaits; in the first part, was analyzed the
movement phases: Transfer and support, and how each movement is
quadruped, 4+2 quadruped and pentapod.
formed. The second part defines features such as: periods, duty
factor, lengths, offsets, support polygon, work area, gaits and crab II. STEP PHASES
angle; in the walking gaits, are studied four types suggested: Tripod,
quadruped, 4+2 quadruped and Pentapod. Finally, we propose an The step is the basic unit of displacement which compose a
analysis formulation and an application model, concluding that it different types of walking, the step is itself composed of two
can be applied to any type of hexapod robot and can be the starting phases of motion:
point for future research in the field of path planning for walking
robots. Support Phase: The legs performs a supporting / stance
cycle in contact with the displacement surface, generally
Keywords Locomotion analysis, hexapod robot, step trajectory,
tripod gait, quadruped gait, quadruped 4+2 gait, pentapod gait.
formulated by a linear or trapezoidal equation [2].
Transfer Phase: The legs performs a transferring / swing
I. INTRODUCTION cycle over the surface of displacement, generally
formulated by a parabolic equation or -degree
he term locomotion comes from the physical polynomial.
T phenomenon known as motion (change of position or
orientation in space). The locomotion therefore refers to a III. MOVEMENT LOCOMOTION
movement realized by a body for moving from one place to
another or rotation thereof about a point in a plane; a body can In order to understand the way in which the robot moves, it
be a person, animal or machine, and it means that locomotion requires a synthesis of characteristics about step and that can
varies according to the shape, structure, propulsion system or produce movement:
other factor that depends on the reference subject.
The locomotion of the living creatures is current topic of Support / Stance Period: Period in which it the performs
interest, since it is intended based on related physical of their the support stance, denoted as:
motion, understand and improve the mechanisms of propulsion Transfer/ swing period: Period in which it performs the
and / or to establish parameters to determine what would be the transfer stance, denoted as:
appropriate positions to perform some type of movement. Step Period: Period in which it conducts a full step,
From the branches associated to this subject, the robotics denoted as , where:
according to architecture classifies a bio-inspired robots at: = + (1)
articulated, mobiles, androids, zoomorphic and hybrid. In the Duty Factor (): Is the ratio between the period of support
classification of the articulated, the hexapods (mechanical and step period, where:
vehicles that walk on six legs), have brought considerable
= (2)
attention in recent decades, this is because they have significant
advantages over wheeled robots to walk on uneven ground Stroke Length: Is the distance traveled in the support phase.
(with no continuous contact with the surface). There are several Stride Length: Is the distance that moves the center of
advantages of a hexapod model: high degree of flexibility in the gravity (COG) during a complete cycle of locomotion.
manner in which it can move, robustness in case of failure of Origin Offset: Displacement of final effector respect its
the extremities and the possibility of using one, two or three origin.
legs to work as hands and perform complex operations with Support Polygon: Is formed during the support phase, this
them. polygon is constructed from the union of points of the end
The most studied problem for multi-legged robots, is how effectors of legs in contact with the surface, this
to determine the best sequence for the elevation and location of characteristic varies respect at gait and offset of origin.
the legs in the walking cycle. From the point of view of stability, Work Area: Space formed by all the coordinates in which
can be locate the end-effector.
G. Evangelista Adrianzn, Universidad Privada Antenor Orrego (UPAO),
Trujillo, La Libertad, Per, gevangelistaa@upao.edu.pe Periodic Gait: Is periodic if similar states of the same leg
during successive strokes occur at the same interval for all
D. Lzaro Cerna, Universidad Privada Antenor Orrego, Trujillo, La
Libertad, Per, dlazaroc@upao.edu.pe
legs, that interval being the cycle time.
PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO 168
TABLE IV
PENTAPOD GAIT PHASES
Figure 1. Numbering of legs for a hexapod robot with symmetrical distribution.
STAGE SUPPORT TRANSFER
A. Tripod Gait: It is characterized by have 3 legs in every 1 1 -2 -3 -4 -6 5
2 1 -2 -4 -5 -6 3
support stage [4]: 3 2 -3 -4 -5 -6 1
4 1 -2 -3 -4 -5 6
TABLE I 5 1 -2 -3 -5 -6 4
TRIPOD GAIT PHASES 6 1 -3 -4 -5 -6 2
8( 0 )2
= [ 0 ] (4)
2
2 = [/2: 0]
2 = 12.38 + 1.5( ) sin
2 = 0 + 1.5( ) cos
2 = [8(1.5( ) + /4)2 + 10.51 /2]
5 = [/2: 0]
5 = 12.38 + 1.5( ) sin()
5 = 0 + 1.5( ) cos()
5 = [8(1.5( ) + /4)2 + 10.51 /2]
1,3 = [/4: 0]
1,3 = 12.38 + 0.75( ) sin()
Figure 5. Working area for end-effector of the leg 4.
PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO 171
1,3 = 0 + 0.75( ) cos()
1,3 = 10.51
4,6 = [/4: 0]
4,6 = 12.38 + 0.75( ) sin()
4,6 = 0 + 0.75( ) cos()
4,6 = 10.51
VII. RESULTS
A. Tripod Gait
It was generated using 300 iterations a gait period of 3
seconds, this has a stroke length of 2.5cm and an Figure 7. Quadruped gait locomotion.
iteration delay of 10ms. The behavior is showing in the
figure 6 and is due to the following parameters: C. 4+2 Quadruped Gait
It was generated using 110 iterations a gait period of
= 5
1.1 seconds, this has a stroke length of 3cm and an
0 = 12.38
iteration delay of 10ms. The behavior is showing in the
0 = 5 1,2 figure 8 and is due to the following parameters:
0 = 5 5,6 = 6
0 = 10.51 0 = 12.38
= 0 0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 90
B. Quadruped Gait
It was generated using 210 iterations a gait period of
2.1 seconds, this has a stroke length of 3.5cm and an Figure 8. Locomotion of the 4+2 quadruped gait.
iteration delay of 10ms. The behavior is showing in the
figure 7 and is due to the following parameters: D. Pentapod Gait
It was generated using 130 iterations a gait period of
= 7
1.3 seconds, this has a stroke length of 2.5cm and an
0 = 12.38
iteration delay of 10ms. The behavior is showing in the
0 = 3 1,2 figure 9 and is due to the following parameters:
0 = 3 5,6 = 5
0 = 10.51 0 = 12.38
= 90 0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 35.
PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO 172
APPENDIX
REFERENCES
[1] Xilun Ding, Zhiying Wang, Alberto Rovetta and J.M. Zhu, Climbing and
Walking Robots, Beihang University, Politecnico di Milano, China,
Italy, 2010, p.291
[2] Shibendu Shekhar Roy, Ajay Kumar Singh and Dilip Kumar Pratihar,
Analysis of Six-legged Walking Robots, 14th National Conference on
Machines and Mechanisms, NIT, Durgapur, India, 2009, p3
[3] Andrs Prieto-Moreno Torres, Estudio de la locomocin de un robot
Figure 9. Pentapod gait locomotion. cuadrpedo mediante la generacin de patrones biolgicos, Escuela
Politcnica Superior, p.1
[4] Tsu-Tian Lee, Ching-Ming Liao, and Ting-Kou Chen, On the Stability
VIII. DISCUSSIONS Properties of Hexapod Tripod Gait, IEEE Journal of Robotics and
Automation, Vol. 4. No. 4. August, 1988, p.427
The results obtained of the iterations during a complete [5] Nestor Martnez De Oraa, Pedro Fernndez Gmez, Robot Hexpodo,
cycle of locomotion, show that the legs have a behavior and Universitat Politcnica de Catalunya, 2003, pp.32-33
[6] Lianqing Yu Yujin Wang, Weijun Tao, Gait Analysis and
characteristics identical to those described in the walking gaits, Implementation of a Simple Quadruped Robot, 2nd International
thus proving that yes could parameterize and formulate the Conference on Industrial Mechatronics and Automation, 2010, pp.431-
motion equations in the four types of gaits and this through a 432
[7] G. Clark Haynes, Alfred A. Rizzi, Gaits and Gait Transitions for Legged
single analysis. Robots, IEEE International Conference on Robotics and Automation -
The crab angle influence can be observed in the behavior of Florida, 2006, p.1121
x and y axis at different results, thus proving, that determines
the direction of motion regardless of gait type; but if want to Guillermo Evangelista is an Electronic Engineer graduated
from the Universidad Privada Antenor Orrego. He currently
perform a backward movement, this can be generated by a teach Electronic Engineering in the UPAO, where he is also
down counter for . a member of the Engineering Research Unit and advisor
Engineering Research Group Electronics (RGEE). His
IX. CONCLUSIONS research interest is the mathematical modeling for
polyarticulated robots and UAV units, as well as the development of solutions
based artificial vision for industrial applications and non-invasive monitoring.
Based on the motion parameters proposed, the description
of the four gaits was performed without resorting a Denis Lzaro is student of Electronic Engineering at the
Universidad Privada Antenor Orrego, and present is Vice-
parameters or special characteristics, thus providing a President of the RAS-IEEE / UPAO.
generalized analysis model and independent to the selected
type.
To improve the static equilibrium of the robot (support
polygon), should be apply an origin offset of positive value
to the 1,2 legs and negative to 5,6 legs.
The parameter crab angle solves the problem of
independent equations in the horizontal plane, the
orientation of the trajectory depends only on this
parameter, which determines the equations per axis of
dependent manner.
If the analysis is implemented in a hexapod robot and want
to test it in a non-uniform terrain, will require the use of
sensors to detect surface; this will not alter the design of
the analysis, only will make the 0 parameter becomes a
variable.
ACKNOWLEDGMENT
2 + 2 + 2 +1 2 2 2 3 2 21 2 + 2
3 = acos ( ) (6)
Figure. 3. Manufacture process by laser cutting. 22 3
1 1
C. Forward Kinematics for Head Ti = (mi )Vi2 + (Ii )qi 2 (14)
2 2
The assignment of reference systems is shown in Figure 6, U = mgh (15)
whereas the D-H parameters in Table 5. L = Ti U (16)
F. Locomotion
Figure. 6. Assignment of reference systems for the head. To understand how a hexapod moves, it requires a synthesis
of features that can produce movement [8]:
TABLE V. DENAVIT-HARTENBERG PARAMETERS
Support / Stance Period: Period in which it the performs
1 90 1 0 1 the support stance, denoted as:
2 0 2 0 2 Transfer/ swing period: Period in which it performs the
transfer stance, denoted as:
= cos 1 (2 cos 2 + 1 ) (7) Duty Factor (): Is the ratio between the period of support
= sin 1 (2 cos 2 + 1 ) (8)
= 2 sin 2 (9) phase and step period ( + ).
Stroke Length: Is the distance traveled in the support phase.
D. Inverse Kinematics for Head Support Polygon: Is constructed from the union of points
1 = arctan( ) (10) of the end effectors of legs in contact with the surface.
2 = atan ( 2 2
+ 1
) (11) Periodic Gait: Is periodic if similar states of the same leg
during successive strokes occur at the same interval for all
E. Dynimcs Analysis legs, that interval being the cycle time.
In this section, the relationship between the movement of the Symmetric Gait: Is symmetric if the motion of legs of any
legs and the forces involved in it will be know and will be done right-left pair is exactly half a cycle out of phase.
by Euler-Lagrange formulation [7]. The usefulness of dynamic Regular Gait: Is when the legs have the same duty factor.
modeling is used in the design and evaluation of the mechanical
structure, actuators and motion simulation. The locomotion movement was developed for four different
types of walking: Tripod, quadruped, quadruped 4+2 and
= ( ) (12) pentapod, for a description of these, took advantage the legs
distribution of Figure 7, equations from [9] and results of [10]:
Where:
: Lagrangian ( = )
: Kinematic Energy
: Potencial Energy
: Inertia moment
: Generalized non-conservative forces
: Shaft length to center of mass of axis
: Shaft length of axis to + 1
: Generalized Coordinate
Figure. 7. Numbering of legs for hexapod robot.
: Total mass.
Features:
- = 34 in each of the legs.
- The stroke length is of the stride length.
- Quadrilateral support polygon in the 1 and 3 stage.
- Pentagon such a support polygon in the 2 and 4 stage.
- The gait is periodic, non-symmetric and regular.
Figure. 8. Tripod gait accuracy, blue is ideal value and red is true position.
Figure. 9. Quadruped gait accuracy, blue is ideal value and red is true position.
A. Process Unit
This is responsible for receiving data and processing
information. It is a device mbed ARM Cortex-M3 NXP
LPC1768 [15] and is show in Figure 13.
V. CONTROL INTERFACE
The control sequence is at Figure 16 and allows to the user
validate the platform at real time downloading the calculus in a
virtual model and/or at hexapod robot.
Configurations
Artificial Vision
Figure. 13. Device mbed NXP LPC1768.
Locomotion
B. Servo-Controller
This hardware was designed for position servo control using
pulse with modulation (PWM). A microcontroller 18F4550 [16] Kinematics
was selected, it use the interrupt modules CCP1 and CCP2
associated with Timer1 and Timer3. The position updating is by
the reception of a coded frame (RCIE interrupt), which is shown Servo-Controller
in Table 10.
APPENDIX
Link with full information about this project:
https://drive.google.com/folderview?id=0B_JXOKvBtg_HNF
VKbFZEVkRhdlk&usp=sharing
REFERENCES
Figure. 18. Locomotion window. [1] Bruno Siciliano, Oassuma Khatib, Springer Handbook of Robotics,
Springer Berlin Heidelberg, 2008, pp.1-6.
In the pop-up window (Figure 19), can see in real-time the [2] Brigitte Denis, Sylviane Hubert, Collaborative learning in an educational
robotics environment, Universit de Lige - Sart Tilman, Belgium,
support polygon formed by the end-effector points in contact pp.465-480.
with the surface. [3] Roger D. Quinn & Roy E. Ritzmann, Construction of a Hexapod Robot
with Cockroach Kinematics Benefits both Robotics and Biology,
Connection Science, 1998, Vol. 10, pp1.
[4] Kuang-Hua Chang, Motion Simulation and Mechanism Design with
SolidWorks Motion 2013, SDC Publications, pp.24-28.
[5] http://www.solidworks.es/sw/products/10174_ESN_HTML.htm
[6] J. Denavit and R.S. Hartenberg, A kinematic notation for lower-pair
mechanisms based on matrices, ASME Journal of Applied Mechanics,
Vol. 77, 1955.
[7] K. S. Fu, R. C. Gonzlez, C. S. G. Lee, ROBOTICS: Control, Sensing,
Vision, and Intelligence, 1987, p84-102.
[8] Xilun Ding, Zhiying Wang, Alberto Rovetta and J.M. Zhu, Climbing and
Walking Robots, Beihang University, Politecnico di Milano, China,
Italy, 2010, p.291.
[9] Tsu-Tian Lee, Ching-Ming Liao, and Ting-Kou Chen, On the Stability
Properties of Hexapod Tripod Gait, IEEE Journal of Robotics and
Automation, Vol. 4. No. 4. August, 1988, p.427
Figure. 19. Pop-up window for real-time support polygon. [10] G. Evangelista, Development and Building of a Hexapod Robotic
Research Platform using a Device Mbed NXP PLC1768, 2013, pp. 60-87.
In the vision window, the platform can search and follow [11] G. Evangelista, D. Lazaro, Traslational Motion Analysis of a Hexapod
various objects such as spheres, is shown in Figure 20: Walking Robot, XX International Congress of Electrical Engineering,
Electronics, Computer and Related Branches, Peru, pp.112-117.
[12] Nestor Martnez De Oraa, Pedro Fernndez Gmez, Robot Hexpodo,
Universitat Politcnica de Catalunya, 2003, pp.32-33
[13] Lianqing Yu Yujin Wang, Weijun Tao, Gait Analysis and
Implementation of a Simple Quadruped Robot, 2nd International
Conference on Industrial Mechatronics and Automation, 2010, pp.431-
432.
[14] G. Clark Haynes, Alfred A. Rizzi, Gaits and Gait Transitions for Legged
Robots, IEEE International Conference on Robotics and Automation -
Florida, 2006, p.1121
[15] http://mbed.org
[16] www.microchip.com/datasheet/PIC18F4550