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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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Robotic snake model control
Levek, Martin ; Matoušek, Radomil (referee) ; Hůlka, Tomáš (advisor)
The goal of this work was control of a robotic snake model in an unknown environment with randomly generated obstacles. The robotic snake is made of nine segments. These segments are serially connected with actuators, which are used to change the angle between neighboring segments. Its functionality was tested in a co-simulation between MATLAB Simulink and MSC Adams. The snake’s task was to slither through a gap between two walls and reach the target without a collision. The correlation between the snake’s behavior and the set movement parameters was observed.
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Nonholonomic mechanisms geometry
Bartoňová, Ludmila ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
Tato diplomová práce se zabývá popisem kinematického modelu řízení neholonomního mechanismu, konkrétně robotického hada. Model je zkoumán prostředky diferenciální geometrie. Dále je odvozena jeho nilpotentní aproximace. Lokální říditelnost je zjištěna pomocí dimenze Lieovy algebry generované řídícími vektorovými poli a jejich Lieovými závorkami. V závěru jsou navrženy dva jednoduché řídící algoritmy, jeden pro globální a druhý pro lokální řízení, a poté následuje srovnání jednotlivých modelů.
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Realization of basic motion of robotic snake
Hadámek, Tomáš ; Šulc, Dalibor (referee) ; Krejsa, Jiří (advisor)
This thesis deals with the realization of robotic snake motion on planar surface. Control electronics had to be developed together with the power source management in order to implement motion control of already available mechanical subsystem of robotic snake. The first part of the thesis is focused on the analysis of existing mechanical subsystem, evaluation of possible solutions and design of control hardware. Second part summarizes particular motions of robotic snake and is further extended by the analysis of existing mathematical descriptions of snake motion, details regarding mathematical model development and implementation and simulation of the motion. The last part is devoted to the realization of robotic snake motion with real hardware. Working physical model of robotic snake represents the key outcome of this thesis. The robot is capable of several types of motion and can be used for further research and development.
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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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Geometric models of a snake robot control
Byrtus, Roman ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the geometric theory of control of a robotic snake. The thesis includes required definitions of differential geometry and control theory, which are used to describe and derive the control model for a three segment robotic snake. The model is applied in the simulation environment V-REP.
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Control Theory of robotic snakes with more than three links
Tejkal, Martin ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
The subject of this Bachelor's thesis is control theory of mechanism that simulates snake's movement. From a viewpoint of control theory the robot is classified as nonholonomic system, controllability of which is determined by vector fields. Based on nonholomic constrain a set of input vector fields is obtained from a system of nonholonomic equations. The other vector fields that are necessary for controllability of the system are derived from the set of input vector fields by application of Lie bracket operation on two input fields. This set of vector fields is further analysed in particular points of the configuration space. Finally we discuss changes that need to be done in order to describe a mechanism created by adding one, or more new links.
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Control Theory of robotic snakes with missing wheels
Reichmanová, Barbora ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
This thesis looks into the mathematical description of a three-sectional robot. The thesis deals with cases of wheels missing either on the middle or the last section or solely on the middle section. At first theoretical basis is mentioned including the terms such as vector and affinne space, Lie algebra, distribution or controllable system. Subsequently, there is presented formulation of equations describing a snake robot with missing wheels, solutions of equations, calculation of Lie brackets and discussion of controllability. The calculations are demonstrated on examples of various configurations of the robot.
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