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Snake Robot Design
Hubatka, Šimon ; Miškařík, Kamil (referee) ; Matoušek, Radomil (advisor)
Bachelor's thesis deals with design of snake-like robot for planar motion platform. Thesis is divided into two sections. The first part briefly presents basic movements of biological snake, which is followed by a chapter with snake-like robots divided into categories according to the type of their design including characteristics of examples. Design of the robotic snake is described in the second part.
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Snake-like Robots Review and Simulation (Robotičtí hadi: recenze a simulace)
Stolnikova, Anna ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This project has reviewed the snake locomotion and is to design a simulation of a snake-like robot motion as the real biological snake. One of the targets has been to create a simulation of a 6-chained robot, so the device will move flexible. The construction has multiple joints which enable it to have multiple degrees of freedom, giving it the ability to flex. So, the application is very useful in closed space and environment. Based on reviewed kinematic model of a snake motion, the code has been created to present the motion in simulation environment.
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Nonholonomic mechanisms control
Mareček, Tomáš ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with a control theory of nonholonomic mechanisms. Examples explaining the application of dierential geometry notions are provided. More precisely, the area of Lie groups and Lie algebras is employed. Kinematic equations are constructed for a 3-link snake-like robot and a nonholonomic control system is derived in terms of vector felds. Additional vector felds are created by the Lie bracket operation to prove local controllability of the nonholonomic system. Finally, the snake-like robot’s moves are animated in MATLAB software.
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Deep reinforcement learning and snake-like robot locomotion design
Kočí, Jakub ; Dobrovský, Ladislav (referee) ; Matoušek, Radomil (advisor)
This master thesis is discussing application of reinforcement learning in deep learning tasks. In theoretical part, basics about artificial neural networks and reinforcement learning. The thesis describes theoretical model of reinforcement learning process - Markov processes. Some interesting techniques are shown on conventional reinforcement learning algorithms. Some of widely used deep reinforcement learning algorithms are described here as well. Practical part consist of implementing model of robot and it's environment and of the deep reinforcement learning system itself.
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Robotic snake locomotion
Tran, Duc Viet ; Dosoudilová, Monika (referee) ; Hůlka, Tomáš (advisor)
The thesis is focused on creation of a simulation model of a snake-like robot, which is then tested on a demonstration task. First part of the thesis is dedicated to a brief analysis of basic snake locomotion and aplication of acquired knowledge in bionics. After that follows practical part, in which a snake-like robot koncept is developed and the models are then subjected to simple tests in simulation software. Final part of the thesis deals with processing of knowledge and acquired values, from which conclusions are then made.
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Robotic snake locomotion
Tran, Duc Viet ; Dosoudilová, Monika (referee) ; Hůlka, Tomáš (advisor)
The thesis is focused on creation of a simulation model of a snake-like robot, which is then tested on a demonstration task. First part of the thesis is dedicated to a brief analysis of basic snake locomotion and aplication of acquired knowledge in bionics. After that follows practical part, in which a snake-like robot koncept is developed and the models are then subjected to simple tests in simulation software. Final part of the thesis deals with processing of knowledge and acquired values, from which conclusions are then made.
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Deep reinforcement learning and snake-like robot locomotion design
Kočí, Jakub ; Dobrovský, Ladislav (referee) ; Matoušek, Radomil (advisor)
This master thesis is discussing application of reinforcement learning in deep learning tasks. In theoretical part, basics about artificial neural networks and reinforcement learning. The thesis describes theoretical model of reinforcement learning process - Markov processes. Some interesting techniques are shown on conventional reinforcement learning algorithms. Some of widely used deep reinforcement learning algorithms are described here as well. Practical part consist of implementing model of robot and it's environment and of the deep reinforcement learning system itself.
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|
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Nonholonomic mechanisms control
Mareček, Tomáš ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with a control theory of nonholonomic mechanisms. Examples explaining the application of dierential geometry notions are provided. More precisely, the area of Lie groups and Lie algebras is employed. Kinematic equations are constructed for a 3-link snake-like robot and a nonholonomic control system is derived in terms of vector felds. Additional vector felds are created by the Lie bracket operation to prove local controllability of the nonholonomic system. Finally, the snake-like robot’s moves are animated in MATLAB software.
|
|
|
Snake-like Robots Review and Simulation (Robotičtí hadi: recenze a simulace)
Stolnikova, Anna ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This project has reviewed the snake locomotion and is to design a simulation of a snake-like robot motion as the real biological snake. One of the targets has been to create a simulation of a 6-chained robot, so the device will move flexible. The construction has multiple joints which enable it to have multiple degrees of freedom, giving it the ability to flex. So, the application is very useful in closed space and environment. Based on reviewed kinematic model of a snake motion, the code has been created to present the motion in simulation environment.
|
|
|
Snake Robot Design
Hubatka, Šimon ; Miškařík, Kamil (referee) ; Matoušek, Radomil (advisor)
Bachelor's thesis deals with design of snake-like robot for planar motion platform. Thesis is divided into two sections. The first part briefly presents basic movements of biological snake, which is followed by a chapter with snake-like robots divided into categories according to the type of their design including characteristics of examples. Design of the robotic snake is described in the second part.
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