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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Modelování a řízení pohybu humanoidního robotu
 Sokolová, Alexandra ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
With the rise in popularity of mobile robots in our day-to-day life and their advantages in exploration, we need to explore a broader scope of methods of movement that would allow these machines to comfortably live by our sides or access the terrain which is inaccessible to humans. We have long since realised that wheels do not allow for the necessary range of movement within environment that is harder to navigate. As a result, the development of robots with legs has seen a rapid rise in prominence in the recent years. Within this text we explored the possibilities of design of one such robot, a monopedal hopper with a foot, and then created a model in SimScape Multibody with the final result being a short choreography displaying the robot’s abilities to move in space, such as: crouching and jumping on and over obstacles.
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Modelování a simulace jednonohého acrobatického robotu
 Tomášek, Jiří ; Rajchl, Matej (referee) ; Grepl, Robert (advisor)
The thesis focuses on the development of a dynamic model of a single-legged robot with a specific emphasis on jumping. The model is created using MATLAB/SimScape Mul- tibody environment. It covers the process from robot design selection to the design of the jumping algorithm and its optimization. The thesis also includes an evaluation of the model outputs, such as torque and angular velocity profiles in the actuators, as well as the jump height.
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