Prototip jednostavnog dvonožnog hodača

master's thesis

• Title (english): Prototype of a Simple Two-legged Robot
• Author: Dorotea Potoč
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Damir Seršić (član povjerenstva)
• Committee member: Mladen Vučić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-06-29, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Robotika je grana koja je obuhvatila velik dio naše svakodnevice, a sam njen početak javlja se iz doba Leonarda da Vincija. Godine 2020. proslavljena je stota obljetnica od pojave riječi „Robot“ u djelu Karela Čapeka.
Humanoidni roboti sastoje se od torza, glave i udova te svojim izgledom imitiraju izgled ljudskog tijela. Baš zbog toga se često koriste u istraživačke svrhe kako bi pomogli pri shvaćanju funkcija ljudskog tijela. U okviru ovog diplomskog rada istražen je hod humanoidnog robota i funkcije različitih vrsta motora potrebnih za pokretanje robota. Hod je proučavan na dvonožnom hodaču sa različitim stupnjevima slobode gdje je bilo potrebno osiguravati ravnotežu robota i omogućiti njegove kretnje imitirajući ljudski hod. Za upravljanje robotom izabrani su Arduino UNO i ESP32, te za pokretanje servo motori i njihov PWM servo driver.

Abstract (english)

Robotics is a branch that has taken over a large part of our everyday life, and its very beginning dates back to the time of Lenoardo da Vinci. In 2020 the hundredth anniversary of the appearance of the word „Robot“ was celebrated in the work of Karel Čapek.
Humanoid robots consist of torso, head and limbs and imitate the appearance of the human body. That is why they are often used for research purposes to help understand the functions of the human body. Within this diploma thesis, the gait of humanoid robot and functions of different types of motors, that are needed to start a robot, were investigated. Gait was studied on a two-legged walker with varying degrees of freedom where it was necessary to ensure the balance of the robot and allow its movements by mimicking human gait. For robot control were chosen Arduino UNO and ESP32, and to run the robot were chosen servo motors and their PWM servo driver.

• Keywords: robotika; humanoid; robot; hodač; servo motori
• Keywords (english): robotics; humanoid; robot; walker; servo motors
• Language: croatian
• URN:NBN: urn:nbn:hr:168:802851
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 15:55:33