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undergraduate thesis
Kinematika četveronožnog hodača
2024. urn:nbn:hr:235:899406
Paleka, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Paleka, I. (2024). Kinematika četveronožnog hodača (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:899406

Paleka, Ivan. "Kinematika četveronožnog hodača." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:899406

Paleka, Ivan. "Kinematika četveronožnog hodača." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:899406

Paleka, I. (2024). 'Kinematika četveronožnog hodača', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 15 March 2025, https://urn.nsk.hr/urn:nbn:hr:235:899406

Paleka I. Kinematika četveronožnog hodača [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2025 March 15] Available at: https://urn.nsk.hr/urn:nbn:hr:235:899406

I. Paleka, "Kinematika četveronožnog hodača", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:899406

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Metadata
TitleKinematika četveronožnog hodača
Title (english)Kinematics of a quadrupedal walker
AuthorIvan Paleka
MentorMladen Crneković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-02-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Ovaj završni rad prikazuje izradu mobilnog robota četveronožne kinematike te kinematski model potreban za pokretanje samog robota. Prvobitno je prikazan odabir komponenti i postupak izrade konstrukcije robota. Zatim se u radu prolazi kroz kinematički model potreban za definiranje kinematike hoda svake noge kako bi se osigurala stabilnost samog robota. Na kraju je pokazana izrada PD regulatora pomoću Ziegler-Nichols metode kako bi se omogućio stabilan i dinamički hod. Tokom izrade rada korišteni su programski paketi SolidWorks, MATLAB i Arduino IDE.
Abstract (english)
This final thesis presents the development of a mobile robot with quadruped kinematics and the kinematic model necessary for the robot's movement. Initially, the selection of components and the process of constructing the robot's structure are shown. Subsequently, the thesis covers the kinematic model required to define the gait kinematics of each leg to ensure the stability of the robot itself. Finally, the implementation of a PD controller using the Ziegler-Nichols method is demonstrated to enable stable and dynamic locomotion. Throughout the thesis, the software packages SolidWorks, MATLAB and Arduino IDE were used.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:899406
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 on2024-02-22 10:16:02