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undergraduate thesis
Mobilni roboti pokretani nogama
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. urn:nbn:hr:235:282484
Šarančić, David
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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

Cite this document

Šarančić, D. (2018). Mobilni roboti pokretani nogama (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:282484

Šarančić, David. "Mobilni roboti pokretani nogama." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:282484

Šarančić, David. "Mobilni roboti pokretani nogama." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:282484

Šarančić, D. (2018). 'Mobilni roboti pokretani nogama', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 13 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:282484

Šarančić D. Mobilni roboti pokretani nogama [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 July 13] Available at: https://urn.nsk.hr/urn:nbn:hr:235:282484

D. Šarančić, "Mobilni roboti pokretani nogama", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:282484

Metadata
TitleMobilni roboti pokretani nogama
Title (english)Legged mobile robots
AuthorDavid Šarančić
MentorPetar Ćurković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-03-01, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Ovaj se završni radi bavi mobilnim robotima koji su pokretani nogama. Rad se sastoji od dvije veće cjeline. Prvi dio rada donosi literaturni pregled mobilnih robota pokretanih nogama te daje njihovu podjelu. Mobilne robote pokretane nogama najčešće dijelimo prema broju nogu, ali i po ostalim fizičkim karakteristikama. U radu se govori o osnovnim prednostima i nedostacima pri konstruiranju i upravljanju ovakvih robota. Većina takvih robota izrađena je po uzoru na neku životinju ili čovjeka, odnosno imitirajući prirodu. Takav pristup proučavanja i preslikavanja životinjskih karakteristika u tehničke sustave naziva se biomimikrija. Biomimikrija je očita i u drugom dijelu rada koji se bavi adaptacijom već postojeće robotske platforme. U drugom dijelu rada se razrađuje prilagodba četveronožnog paukolikog robota za novoodabrano elektroničko sklopovlje. Nakon modeliranja konstrukcije u programskom paketu CATIA, izrađen je prototip na uređaju za brzu izradu prototipova. Posebnost ove platforme jest da se svi aktuatori nalaze unutar samog tijela robota, a ne u nogama. Na taj se način eliminira prekomjerna masa nogu. Svaka od ĉetiri noge se pokreće pomoću polužnog mehanizma koji se sastoji od četiri štapa. Zbog te karakteristike javlja se neuobičajena kinematika robota. Ovakvom konstrukcijom robot postaje izazovna platforma za proučavanje algoritama umjetne inteligencije koji se implemetiraju za ostvarivanje gibanja. Takvi algoritmi daju puno bolje rezultate od sekvencijalnog programiranja kod složenijih robotskih struktura.
Abstract (english)
This final project addresses the issue of legged mobile robots. The paper consists of two major parts. First part of the paper brings literature review of legged mobile robots and classifies them. Legged mobile robots most commonly differ by the number of their legs, but they can be distinguished by many other physical characteristics. The paper tackles elementary advantages and disadvantages when designing and controlling this type of a robot. Most legged mobile robots are made by imitating animals and humans. This approach of implementing knowledge obtained form observing nature into technical systems is called biomimetics. Biomimetics is also obvious in the second part of this paper. The second part of the paper elaborates adaptation of already existing quadruped robotic platform for the new electronic circuitry. After 3D designing the model in the CATIA software, prototype is printed on the rapid prototyping printer. This platform is unique because all the actuators are located in the body of the robot, and none of them is in the robot's leggs. Specifically, each of the four legs is controlled by separete four-bar linkage mechanism. Consequently, robot's mass is reduced, however, complexity of control is increased. This design causes unconventional kinematics, thus providing challenging platform for gait-learning algorithms. These algorithms excel in complicated structures like this, where sequential programming tends to underperform.
Keywords
Languagecroatian
URN:NBNurn:nbn:hr:235:282484
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 21:34:00