Hyper-Redundant Robots: Classification, State-of-the-Art and Issues

[ES] Los robots hiper-redundantes son aquellos que tienen un número muy elevado de grados de libertad. En su uso cotidiano, la redundancia es referida para indicar una repetición o un uso excesivo de un concepto. En el campo de la robótica, la redundancia puede ofrecer numerosos beneficios frente a los robots convencionales. Los robots hiper-redundantes poseen una mayor habilidad para sortear obstáculos, son tolerantes a fallos en algunas de sus articulaciones y también pueden ofrecer ventajas cinemáticas. En este artículo se presentan los conceptos generales para entender este tipo de robots, así como una clasificación de los mismos, su potencial, su problemática y su evolución a lo largo de la historia.[EN] Hyper-redundant robots are characterized by having a high number of degrees of freedom. The word redundant is commonly used to mean a repetition or excess of a concept. In the robotics scope, redundancy offers numerous advantages against traditional robots. Hyper-redundant robots provide better skills to avoid obstacles, they are fault-tolerant in some of their joints and exhibit kinematic advantages. This article presents general concepts to understand this kind of robots as well as a classification, their potential, drawbacks and an analysis of their evolution throughout their history.Este trabajo es resultado de las actividades de investigación llevadas a cabo en el Centro de Automática y Robótica (CARUPM-CSIC) de la Universidad Politécnica de Madrid (España), en el seno del grupo de investigación de Robótica y Cibernética (RobCib). Las actividades se enmarcan en los proyectos RoboCity2030-III-CM (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748) y en el proyecto DPI2014-56985-R (Protección Robotizada de Infraestructuras Críticas) financiado por el Ministerio de Economía y Competitividad del Gobierno de España.Martín Barrio, A.; Terrile, S.; Barrientos, A.; Del Cerro, J. (2018). 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