Real-time driver state detection A vision system for controlling an industrial robot with hand movements Integration of a camera and virtual reality with a robotic arm Application of computer vision in the recognition and interpretation of sign letters Mapping of characteristic points of the human face using machine learning and Blender software Six-legged robotic insect Two-way communication based on the MQTT protocol within the virtual and real environment

Six legged robotic insect

Student: Patrick Trgovac

In this thesis, it is shown how to make a Spider robot. Spider robots can be different so it is important to say this is a hexapod, a spider robot with six legs. The design of the robot is shown how to create legs to be compatible with motors, how to connect different parts of the legs and how to connect them with the body. In the second part are shown calculations for static torque of the legs when three of the legs are in the air. Inverse kinematics is also shown because it is needed for the control of the robot. And some simple calculations for the current that is needed to power the robot. The third part is electronics, what microprocessors are used and why them. How to solve the problem with too big currents and what motors are used. How to solve the PCA9685 problem with currents is also addressed. The last part is control of the robot. The code is written in Arduino IDE. Connecting multiple microprocessors, how to use WebSockets and why, and how to create a simple webpage in Javascript. Details around controlling movements of spider legs and how to use inverse kinematics for it.

Repository: https://repozitorij.fsb.unizg.hr/islandora/object/fsb%3A8589