| Abstract [eng] |
In this project, lizard movement analysis, robot prototype development, production and experimental research are performed. The first part of the project analyzes the lizard's movement behavior during walking, running, with and without the tail, and reviews components for the production of a lizard robot prototype. In the second part, the robot prototype model is designed, its design deformation studies are performed, components for the robot prototype production are selected, its production process is described and the operation of the control code is explained. In the third part, experimental studies of the model are performed, in two cases, with and without a tail. In order to investigate whether the robot prototype differs from the living organism, various experimental studies of the model were performed: diagonal limb displacement, center of mass displacement, model linear velocity, generated kinetic energy, and reaction forces to the surface. Studies of a prototype of the manufactured robot were also performed to find out how the loss of the tail affects the movement. The prototype lizard robot was designed using SolidWorks drawing software, and the control part was developed using Arduino IDE and MIT App Inventor. |
