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National Repository of Grey Literature

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Movement Planning of a Hexapod Robot Hostačná, Kristína ; Šátek, Václav (referee) ; Rozman, Jaroslav (advisor) Táto práca predstavuje riešenie na dosiahnutie autonómnej navigácie šesťnohých robotov k cieľu v zornom poli pomocou neurónových sietí. Toto riešenie bolo implementované na dvoch verziách robotov – jednoduchý dizajn s dvoma kĺbmi na každej nohe a zložitejší dizajn s tromi kĺbmi na každej nohe. Hlavná výzva tohto problému - tj. zložitosť ovládania viacerých kĺbov narástla, aby sa umožnil širší rozsah pohybov a tým aj zväčšenie možností využitia robota. Metodológia výskumu zahŕňa využitie experimentov v simulácii aj v reálnom svete na modelovanie a zber údajov. Údaje z rôznych senzorov, vrátane kamier a pozícií serv, sú využité na trénovanie modelov neurónových sietí schopných interpretovať senzorické vstupy a generovať riadiace signály pre aktuátory robota. Základná architektúra neurónovej siete bola spočiatku nasadená pre obe konfigurácie, zatiaľ čo sofistikovanejší prístup zahŕňajúci konvolučné a rekurentné neurónové siete bol použitý neskôr. Vo výsledku, trénované neurónové siete demonštrujú schopnosť navigácie k cieľu. Detailed record

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