Technological development is constantly improving and, above all, making people's lives easier. One of the intensively developing areas is humanoid robotics. The aim of the master’s thesis was to upgrade existing hydraulic humanoid legs with measurement systems, a frame and a microcontroller. The upgrade and robotization of humanoid legs enables the control of human-like walking movements. Linear measurement systems were used to communicate the position of the upper pairs of piston rods of the hydraulic cylinders of the humanoid legs, and wired measurement systems were used for the foot feedback. Teensy and Arduino Mega microcontrollers were used for command control. During the execution of the movement, the operating conditions and pressures were diagnosed and the required operating power was determined.
|
