Řídicí systém pro autonomní pohyb a stabilizaci robotických nohou

Abstract

This bachelor’s diploma thesis consists of a theoretical and practical part. In the theoretical part, definitions of terms, such as biorobotics, amputation and prosthetics, are provided. There are the anatomical description of a lower limb, the historical overview of prosthetic lower limbs and the prothetics that are used in today’s medicine. Artificial muscles are also mentioned there. The practical part covers a design of construction of robotic legs and a proposal of a system that would control them. In the thesis, the characteristics and functions of used hardware and software are described. In further chapters, one can find the realization of the construction and the system of control via a construction set Lego Mindstorms EV3. The last part focuses on visualization, the evaluation of the outcomes of the thesis and their comparison with the theoretical presumptions.