Legged mobile robots

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.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