Design of a two-legged walking robot driven by pneumatic artificial muscles

Tema rada je izrada autonomnog dvonožnog humanoidnog mobilnog robota pokretanog umjetnim pneumatskim mišićima. Dvonožni hod je jedan on težih dinamičkih problema u robotici. Postizanje stabilnosti takvih sustava zahtijeva dobro osmišljenu konstrukciju i adekvatan upravljački algoritam. Autonomnost pneumatskog sustava zahtijeva kompresor i spremnik stlačenog zraka kako bi se mogao sam napajati zrakom. Rad se ponajprije bavi izradom konstrukcije hodajućeg dvonožnog robota. Na konstrukciju su montirani svi dijelovi potrebni za hod humanoidnog robota. Predložena je nadogradnju sustava s ciljem postizanja autonomnog hoda. Opisani su stupnjevi slobode gibanja robota zajedno s njihovim ograničenjima. Također je objašnjen rad energetskog i upravljačkog sustava. Humanoidni robot konstruiran je u CAD alatu i prikazana je željena simulacija hoda.This work deals with manufacturing of autonomous bipedal humanoid mobile robot actuated by artificial pneumatic muscles. Bipedal walk is one of the most complex dynamic processes in robotics. Achieving stability of such systems requires a well designed mechanical structure and adequate control algorithm. Autonomy of pneumatic system requires a compressor and a tank for compressed air so that it could be supplied with compressed air. This work primarily focuses on the construction of mechanical structure of bipedal walking robot. All parts needed for the bipedal walk of the humanoid robot are mounted on the mechanical structure. Upgrades to the system are suggested with the goal of achieving bipedal autonomous walk. Degrees of freedom and their limitations are described. The operating mode of power and control systems are also explained. The humanoid robot is constructed in CAD program and the simulation of the bipedal walk is shown