Simulación e implementación de algoritmos de generación de trayectorias en el sistema de robótica modular MECABOT
The modular robotic system MECABOT, developed by the DAVINCI research group from Universidad Militar Nueva Granada is currently on its fifth version. With it, several architectures can be achieved, like the serpent, caterpillar, wheel, hexapod and recently the development of a quadruped architecture was accomplished. This work will be based on the last one mentioned. The locomotion of each architecture is determined by sequences of previously defined actions. The current document is focused on the search, selection, programming, and implementation of an algorithm for trajectory generation that allows the displacement of the MECABOT 5.0 robot through terrains with various obstacle configurations.