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master's thesis
Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:583263
Ugrinić, Bartol
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Ugrinić, B. (2024). Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:583263

Ugrinić, Bartol. "Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:583263

Ugrinić, Bartol. "Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:583263

Ugrinić, B. (2024). 'Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:583263

Ugrinić B. Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:235:583263

B. Ugrinić, "Biološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:583263

Metadata
TitleBiološki inspirirano kretanje mobilnog robota temeljeno na evolucijskom algoritmu
Title (english)Biologically inspired movement of a mobile robot based on an evolutionary algorithm
AuthorBartol Ugrinić
MentorTomislav Stipančić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-05-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom diplomskom radu je navedena primjena evolucijskog algoritma u svrhu traženja optimalnog hoda četveronožnog robota. Naveden je postupak korištenja 3D CAD STL modela robota u URDF strukturi i korištenje URDF formata u Pybullet simulaciji. Objašnjene su osnove evolucijskih algoritama i primijenjen evolucijski algoritam u Python kodu. Izvedena je simulacija hoda i primjer rezultata evolucijskog algoritma, te njegova usporedba s ručno programiranim hodom robota. Na kraju su navedeni problemi Pybullet simulatora i evolucijskog algoritma koji su susretnuti tokom pisanja ovog rada i moguće nadogradnje, kako simulatora tako i evolucijskog algoritma.
Abstract (english)
In this graduate thesis, the application of the evolutionary algorithms for the purpose of searching for the optimal gait of a four-legged robot is stated. The procedure for using the 3D CAD STL model of the robot in the URDF structure and the use of the URDF format in the Pybullet simulator are listed. The basics of evolutionary algorithms and the applied evolutionary algorithm in Python code are explained. A simulation of the gait and an example of the result of the evolutionary algorithm was performed, and its comparison with the manually programmed gait of the robot. At the end the problems of the Pybullet simulator and the evolutionary algorithm that were encountered during the writing of this thesis and the possible upgrade of both the simulator and the evolutionary algorithm are listed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:583263
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-05-14 18:24:17