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espanolEste articulo presenta un enfoque de control postural de un robot humanoide camarero. En investigaciones anteriores, se propusieron dos metodos para tratar esta complejidad. La primera fue una mejora para el control del equilibrio del cuerpo (locomocion) y la segunda fue un metodo para aplicar los conceptos claasicos del equilibrio del cuerpo para transportar objetos en una bandeja (manipulacion). Este enfoque se basa en el concepto de un sistema de evaluacion multi-ZMP para controlar la estabilidad del objeto y el cuerpo. Ambos metodos se desarrollaron de forma independiente, evitando perturbaciones entre ellos. La integracion en una arquitectura de control postural de todo el cuerpo es un reto para el rendimiento de ambos meetodos, debido a la gran influencia entre ellos. En este articulo, se presentan ambos metodos para tratar la complejidad de la tarea humanoide. Es decir, como estos metodos se han integrado en un controlador postural humanoide y los resultados de la interaccion. EnglishThis article presents a whole-body postural control approach of a waiter humanoid robot. In previous research, two methods for dealing with this complexity were proposed. The rst one was an improvement for balance control of the body (locomotion) and, the second one was a method to apply classic body balance concepts for transporting objects on a tray (manipulation). This approach is based on the concept of a multi-ZMP evaluation system to control object and body stability. Both methods were developed independently, avoiding cross-linked perturbations. The integration into a whole-body postural control architecture is challenging for the performance of both methods, due to the big in uence between them. In this article, both methods for dealing with humanoid task complexity are presented. That is, how these methods have been integrated into a humanoid postural controller and the results of the interaction.

Evaluación multi-ZMP para tareas de transporte de objetos en robots humanoides