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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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Using of Reinforcement Learning for Four Legged Robot Control
Ondroušek, Vít ; Maga,, Dušan (referee) ; Maňas, Pavel (referee) ; Singule, Vladislav (referee) ; Březina, Tomáš (advisor)
The Ph.D. thesis is focused on using the reinforcement learning for four legged robot control. The main aim is to create an adaptive control system of the walking robot, which will be able to plan the walking gait through Q-learning algorithm. This aim is achieved using the design of the complex three layered architecture, which is based on the DEDS paradigm. The small set of elementary reactive behaviors forms the basis of proposed solution. The set of composite control laws is designed using simultaneous activations of these behaviors. Both types of controllers are able to operate on the plain terrain as well as on the rugged one. The model of all possible behaviors, that can be achieved using activations of mentioned controllers, is designed using an appropriate discretization of the continuous state space. This model is used by the Q-learning algorithm for finding the optimal strategies of robot control. The capabilities of the control unit are shown on solving three complex tasks: rotation of the robot, walking of the robot in the straight line and the walking on the inclined plane. These tasks are solved using the spatial dynamic simulations of the four legged robot with three degrees of freedom on each leg. Resulting walking gaits are evaluated using the quantitative standardized indicators. The video files, which show acting of elementary and composite controllers as well as the resulting walking gaits of the robot, are integral part of this thesis.
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Implementaion of the controllers of a mobile walking robot
Krajíček, Lukáš ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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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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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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On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance
Papáček, Štěpán ; Polach, P. ; Prokýšek, R. ; Anderle, Milan
Biped underactuated robots with an upper body (being a torso) form a subclass of legged robots. This study deals with the walking performance of such class of legged robot models and has been motivated by the need to implement of the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation (UTIA) of the Czech Academy of Sciences, see Fig. 1 (left). A detailed description of this underactuated walking-like mechanical system (called further UTIA Walking Robot – UWR) is provided in [2] and [5]. The simplest underactuated walking robot hypothetically able to walk is the so-called Compass gait biped walker, alternatively called the Acrobot, see Fig. 1 (right). For a review of underactuated mechanical systems, i.e. systems with fewer actuators than degrees of freedom, which encounter many applications in different fields (e.g., in robotics, in aeronautical and spatial systems, in marine and underwater systems, and in-flexible and mobile systems), see [3]. As follows, we examine the walking performance of parametrized models for different walking regimes and different values of model parameters. More specifically, the sensitivity analysis (i.e., parameter study) of the walking performance with respect to certain design variables (model parameters) is carried out using the software package alaska/MultibodyDynamics. The main attention is attracted to the role of the upper body mass m3 and position lc3, see Fig. 1 (right). Last but not least, having surveyed the mechanics of planar biped robots, our subsequent goal is the analysis of a 3D biped model where lateral balance is either controlled, suppressed or compensated.
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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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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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