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Hexapod Robot Movement Control
Žák, Marek ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.
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System with Model Servos
Švec, Radek ; Materna, Zdeněk (referee) ; Zemčík, Pavel (advisor)
The aim of this thesis was to study the ways of controlling hobby servos, and then to design and create small machine with hobby servos. The created machine is a six-legged walking robot - hexapod with 18 servos for movement. This robot can be remotely controlled using a mobile application for Android. Main control unit of the robot is ESP32 development board. The resulting hexapod is able to walk in all directions and rotate on spot with different walking gaits. It can also change its ground clearance and walking speed. The result of this thesis is a compact walking robot with basic functions, which is suitable for extensions, eg. adding a camera or measuring sensors.
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Design and Construction of a Hexapod Robot
Žák, Marek ; Rozman, Jaroslav (referee) ; Kubát, David (advisor)
This paper describes design, analysis and implementation of the six-legged walking robot - hexapod. The design and implementation of mechanical engineering, electronic and power management and walking algorithms are described in the thesis. The project is also a guide to the construction of a robot, which may be used for experiments with walking algorithms.
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On the kinematics of legged robots
Hrubý, Tomáš ; Kopečný, Lukáš (referee) ; Burian, František (advisor)
This bachelor thesis deals with the topic of kinematics of walking robots. It is aimed at introducing the problems of mobile robots and the concepts of solving locomotion and stability of robots with different numbers of limbs. Furthermore, the thesis discusses the mathematical principles leading to the description of the limbs of robots and to the description of their motion. These principles are then applied to the specific case of a six-legged walking robot. The description of the limbs with respect to the coordinates and the servomotor setup is resolved. Then the forward motion of the robot is modeled and the result is shown in the simulation.
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On the kinematics of legged robots
Hrubý, Tomáš ; Kopečný, Lukáš (referee) ; Burian, František (advisor)
This bachelor thesis deals with the topic of kinematics of walking robots. It is aimed at introducing the problems of mobile robots and the concepts of solving locomotion and stability of robots with different numbers of limbs. Furthermore, the thesis discusses the mathematical principles leading to the description of the limbs of robots and to the description of their motion. These principles are then applied to the specific case of a six-legged walking robot. The description of the limbs with respect to the coordinates and the servomotor setup is resolved. Then the forward motion of the robot is modeled and the result is shown in the simulation.
|
|
|
System with Model Servos
Švec, Radek ; Materna, Zdeněk (referee) ; Zemčík, Pavel (advisor)
The aim of this thesis was to study the ways of controlling hobby servos, and then to design and create small machine with hobby servos. The created machine is a six-legged walking robot - hexapod with 18 servos for movement. This robot can be remotely controlled using a mobile application for Android. Main control unit of the robot is ESP32 development board. The resulting hexapod is able to walk in all directions and rotate on spot with different walking gaits. It can also change its ground clearance and walking speed. The result of this thesis is a compact walking robot with basic functions, which is suitable for extensions, eg. adding a camera or measuring sensors.
|
|
|
Design and Construction of a Hexapod Robot
Žák, Marek ; Rozman, Jaroslav (referee) ; Kubát, David (advisor)
This paper describes design, analysis and implementation of the six-legged walking robot - hexapod. The design and implementation of mechanical engineering, electronic and power management and walking algorithms are described in the thesis. The project is also a guide to the construction of a robot, which may be used for experiments with walking algorithms.
|
|
|
Hexapod Robot Movement Control
Žák, Marek ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.
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