|
|
Modelování chůze čtyřnohého robotu
Číž, Adam ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with creation of a dynamic model of a walking quadruped robot in MATLAB/Simscape Multibody environment. It describes the process of creation from modelling of the geometry all the way to the gait algorithm assembly. Inverse kinematics was used to create the gait algorithm. The thesis also includes evaluation of the outputs of the model in form of angular velocity and torque time course in the joints of the robot while walking.
|
|
|
The Study of Controllers for Four-legged Walking Robots
Klvaňa, Roman ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are six various groups of aprroaches described in this thesis. Main functional principles as well as one representative robot of each approach is described. The summarize of advantages and disadvanteges of each approach is used to apoint an appropriate control approach for robot Quasimodo walking gait generation in the conclusion chapter of this bachleor thesis.
|
|
|
Design of a four-legged walking robot model
Novotný, Pavel - Jakub ; Adámek, Roman (referee) ; Appel, Martin (advisor)
This thesis deals with research in the field of quadruped robot development, creation of robot model in Simulink 3D Animation environment and design of algorithm for quadruped robot walking. This thesis develops the student project Jaromir from the year 2003 by building a robot with a parent-child bond that is more reliable for the robot's function. The thesis uses direct kinematics to develop the gait algorithm. The rotations are incrementally incremented for smooth robot motion. The objectives of this thesis were to research in the area of quadruped robot gait, create a quadruped robot model, and create a quadruped robot gait algorithm and test it in simulation.
|
|
|
Modelování chůze čtyřnohého robotu
Číž, Adam ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with creation of a dynamic model of a walking quadruped robot in MATLAB/Simscape Multibody environment. It describes the process of creation from modelling of the geometry all the way to the gait algorithm assembly. Inverse kinematics was used to create the gait algorithm. The thesis also includes evaluation of the outputs of the model in form of angular velocity and torque time course in the joints of the robot while walking.
|
|
|
The Study of Controllers for Four-legged Walking Robots
Klvaňa, Roman ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are six various groups of aprroaches described in this thesis. Main functional principles as well as one representative robot of each approach is described. The summarize of advantages and disadvanteges of each approach is used to apoint an appropriate control approach for robot Quasimodo walking gait generation in the conclusion chapter of this bachleor thesis.
|
guest ::
