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Skeletal Animation for GPUengine
Minařík, Antonín ; Milet, Tomáš (referee) ; Starka, Tomáš (advisor)
This paper deals with studying skeletal animation techniques, and the subsequent design and implementation of skeletal animation extension for the GPUEngine library. The theoretical part describes the techniques of animation, skeletal animation and skinning. The following is an analysis of existing skeletal animation systems. The proposed solution seeks to reduce the data redundancy in the memory while rendering more skeletal models. According to the design a basic skeletal animation system has been implemented. Furthermore, a demonstration application has been created showing the skeletal system's use. The resulting skeletal system can be used in simple 3D applications and can serve as a basis for further works.
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Inverzní kinematika robota sestrojeného na bázi stavebnice Merkur
ČADA, Jaromír
This Bachelor thesis deals with problematics of inverse kinematics and its application to a robotic arm built from building kit - Merkur Beta 6°. It contains implementation of equations into a program written in Matlab workspace and creation of functions for computing inverse cinematics by FABRIK method. Further it shows, how to set up connection with an Arduino programable platform and control the robotic arm with sent data. The results of this thesis are verified at the end by sample program, which simulates a manipulator.
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3D scene reconstruction using Clifford algebras
Hrubý, Jan ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
Tato diplomová práce má za cíl seznámit čtenáře se stále ještě relativně novou a neznámou oblastí matematiky, s geometrickou algebrou. Nejdříve jsou uvedeny základní definice a poté jsou studovány vlastnosti obecné geometrické algebry. Další velká část textu se věnuje Konformní geometrické algebře, která je v současnosti jedna z nejvíce zkoumaných a aplikovaných geometrických algeber. Jsou popsány její algebraické a geometrické vlastnosti, konkrétně schopnost reprezentovat určité geometrické objekty jako vektory. Taktéž umožňuje počítat jejich průniky a konformní transformace. Další část textu je zaměřena na aplikace Konformní geometrické algebry, nejdříve k popisu kinematiky robotické ruky a poté v binokulárním viděni.
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Hexapod Robot Control
Pelz, Zdeněk ; Rozman, Jaroslav (referee) ; Žák, Marek (advisor)
This thesis contains problematics of robots with peddal chassis and is focused on hexapods. It contains description of design of hexapod chassis, limb analysis, gaits for movement on flat terrain and sensors for ranged measurement. Thesis is focused on hexapod PhantomX AX Hexapod Mark II.
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Procedural Animation of Human Walk
Mohelník, Petr ; Maršík, Lukáš (referee) ; Polok, Lukáš (advisor)
Animation of human walk is employed in many interactive applications, mostly in computer games. There are many ways to create such animation which differ in compromise among naturalness, control over animation and computing time. This work implements procedural animation which is applicable for walking on uneven terrain. Skeletal animation is used for manipulation with model of human body. Furthermore, inverse kinematics is described and implemented. That allows for adaptation to uneven terrain. It also describes phases of human walk, so we can accurately aproximate them. Proposed solution enables specification of walk using number of parameters and is able to adapt to surrounding terrain. The result should be usable in creation of computer games and should allow for creation of specific animation of human walk without need to create such animation manually.
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MOLECUBES technology application in robotics
Vacek, Václav ; Kubela, Tomáš (referee) ; Simeonov, Simeon (advisor)
The aim of the thesis is to propose and make a robot, which is made of identical modules. These modules are able to connect or disconnect themselves and thanks to this feature new structures of robot can be achieved. This problem is solved by the design proposal of a module, which is capable to rotate in two axis and has connection connectors for other modules. Communication is carried out by Wi-fi connection to the computer and angles required for reconfiguration are calculated by inverse kinematics in Matlab program. On these modules the reconfiguration test was succesfully demonstrated.
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Robotic arm control by PLC
Pleva, Damián ; Foukal, Roman (referee) ; Štohl, Radek (advisor)
The goals of this diploma thesis were to get acquainted with the model of the robotic arm Beta 6 from Merkur Company. Next design connections between control board and PLC from Rockwell Automation. Then design and realize Add-On instruction for movement in 3D space with appropriate visualization.
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Procedural Animation of Human Walk
Klement, Martin ; Žák, Pavel (referee) ; Polok, Lukáš (advisor)
This thesis describes the implementation of the program displaying procedural animation of human walk. This program uses the so-called skeletal animation, in which a virtual skeleton is being moved by a forward and inverse kinematics, and subsequently the vertexes of the 3D model of a human are transformed in accordance to the skeleton. Setting of the weight of the bones for individual vertexes is done via the envelope method, the model is loaded from the "ASE" format. The application is written in the C++ programming language and for the visualization the OpenGL library with the GLUT expansion is used.
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