prikaz prve stranice dokumenta Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota
Embargo period 2025-07-15
master's thesis
Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota
2024. urn:nbn:hr:235:578663
Zrinušić, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Zrinušić, I. (2024). Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:578663

Zrinušić, Ivan. "Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:578663

Zrinušić, Ivan. "Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:578663

Zrinušić, I. (2024). 'Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 16 August 2024, https://urn.nsk.hr/urn:nbn:hr:235:578663

Zrinušić I. Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 August 16] Available at: https://urn.nsk.hr/urn:nbn:hr:235:578663

I. Zrinušić, "Primjena fizičkog simulatora PyBullet u kretanju četveronožnog robota", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:578663

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Metadata
TitlePrimjena fizičkog simulatora PyBullet u kretanju četveronožnog robota
Title (english)Application of the PyBullet physics simulator in quadruped robot locomotion
AuthorIvan Zrinušić
MentorPetar Ćurković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Precision Mechanical Engineering
Abstract
U ovom diplomskom radu fokusiramo se na implementaciju hoda četveronožnog robota u fizičkom simulatoru PyBullet, uključujući projektiranje i razvoj optimalnih algoritama za postizanje njegovog dinamičnog i učinkovitog kretanja. Zatim ćemo istražiti različite metode za dizajniranje ciklusa hoda i optimizaciju parametara za optimalnu silu i brzinu kretanja, objasniti izvedbu samih algoritama, a zatim ćemo usmjeriti pozornost na implementaciju algoritma za izbjegavanje prepreka u okruženju robota. Koristit ćemo senzore kao što su infracrveni senzori u kombinaciji s odgovarajućim algoritmima kao što su lokalna navigacija ili planiranje rute kako bismo osigurali sigurnu navigaciju u zahtjevnim područjima. Konačno, prikazana je procjena izvedbe algoritama primijenjenih na simulirano okruženje, zajedno s raspravom o mogućnostima daljnjeg razvoja i primjena u stvarnom svijetu.
Abstract (english)
In this master's thesis, we focus on implementing the four-legged driving robot in the PyBullet physics simulator, including designing and developing optimal algorithms to obtain it dynamic and effective movement. Then, we will explore various methods to design driving cycles and optimize parameters for optimal force and movement speed, explain the performance of the algorithms themselves and then turn our attention to implementing algorithms for obstacle avoidance and evasion in a robot environment. We will use sensors such as infrared sensors in conjunction with appropriate algorithms such as local navigation or route planning to ensure safe navigation in challenging areas. Finally, an assessment of the performance of algorithms applied to a simulated environment is presented, together with a discussion of possibilities for further development and real-world applications.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:578663
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsEmbargoed access
Embargo expiration date: 2025-07-15
Terms of useLicence In copyright icon
Created on2024-07-08 06:48:17