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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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Utilization of the inertial sensors for control of the mobile robots
Lachnit, Zdeněk ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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Design of Model of a Walking Autonomous Mechanism and its Simulation of Movements in Difficult Terrain
Szabari, Mikuláš ; Jánoš,, Rudolf (referee) ; Bobovský,, Zdenko (referee) ; Knoflíček, Radek (advisor)
The first part of the work is devoted to the current state, which discusses the design and step cycles of legged mechanisms and also the resistant terrain. The following second part critically evaluates the current state and defines the solved problem. The third part sets specific goals and creates a work procedure. The solution of the work follows by fourth part, which realizes the morphological analysis of the structure of the legged mechanism and the analysis of the resistant terrain in which the mechanism moves. The fifth part is devoted to the creation of models of legged mechanisms, its initial test and the choice of a specific construction of a legged mechanism for resistant terrain. The following sixth part simulates the movement of the legged mechanism and deals with its optimization. The simulation is confirmed by the experiment performed in the seventh part. The end of the work is devoted to contributions, discussion of results and conclusion.
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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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Utilization of the inertial sensors for control of the mobile robots
Lachnit, Zdeněk ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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