The purpose of this bachelor’s thesis was to create a robot that could play chess through voice recognition and robotics. The two areas to be investigated were the robot’s precision and speed. The reason for building a robot arm of the SCARA type was that it can easily pick up and place pieces with reach over the entire chessboard. The robot arm is controlled from a Raspberry Pi 4 and is moved by two Dynamixel AX-12a servomotors. To pick up chess pieces, a continuous 360-degree servomotor was used to lift an electromagnet which was mounted on a gear rack. AUSB microphone was used to collect what move the player indicated. The Stockfish chess engine was used to generate moves for the robot. The parts of the robot that had the greatest impacton precision were the stability of the aluminum profiles, the gear ratio between the gears that transmit torque to the arm, the gear mesh contact ratio and the size of the electromagnet. The time it took to complete a move could be reduced by increasing the speed of the motors whena chess piece was not attached to the electromagnet, andusing a larger gear in the RC servo that raises and lowers the electromagnet. / Syftet med det här kandidatexamensarbetet var att skapa en robot som genom röstigenkänning och robotik kunde spela schack. De två områden som skulle undersöka svar robotens precision och hastighet. Anledningen till att bygga en robotarm av SCARA typ var att den enkelt kanplocka upp och ställa ner pjäser med räckvidd över hela schackbrädet. Robotarmen styrs från en Raspberry Pi 4och drivs av två stycken Dynamixel AX-12a servomotorer. För att plocka upp schackpjäser användes en kontinuerlig 360-graders servomotor som lyfte en elektromagnet monterad på iniumprofilerna, utväxlingenmellan kugghjulen som överför moment till armen, anliggningsytan vid kuggingreppen och storlek av elektromagnet. Tiden det tog att genomföra ett drag gick att minska genomatt öka hastigheten på motorerna då en schackpjäs inte sattfast på elektromagneten, samt använda ett större kugghjulhos RC servot som höjer och sänker elektromagneten.

Thist thesis deals with smart servomotor control. The aim of thist project is to create own control system, implementig communication protocol with smart servos from Bioloid Comprehensive Kit. Communication. The deal also deals with communication with smart sensoring element.

This thesis shows the development of a quadruped platform inspired by existing quadrupled robot designs. A robot by the name of Mjukost was designed, built, and tested. Mjukost uses 12 Dynamixel AX-12a smart servos and can extend its legs up to 19 cm with an operating height of 16 cm. All the custom parts in Mjukost are ether 3d printable or easy to manufacture, and the total estimated cost of Mjukost is around 900$. Mjukost has a simple control system that can position its body freely in 6 DOF using an inverse kinematic model and walk on flat ground using an open-loop walking algorithm. The performance experiments show that its slow control loopcauses difficulties for the robot to follow precise trajectories, but its still consistent in its motions.

The introduction of this document presents some basic principles of visual telepresence with analysis of important aspects of the design. Afterwards there is a brief ovrewview of some of the applications of telepresence systems. Subsequently there is a description of the basic parameters and functions of the human visual perception system including the head motion parameters. This document examines the creation of telepresence apparatus through which is the user able to percieve visual stimuli accross distance. The device consist of camera with wide FOV positioned on the last link of the servo-motor chain with 3 DOF. Camera view is projected into scene in position read from actual motor posture. The scene is perceived through the HMD Oculus Rift (DK1, DK2) where the actual head-orientation read from the HMD inertial sensors is the entered end value for the rotation angles of the servomotors. A \csharp (WPF) program was developed for the controling and setting of motors which handles the byte communication through RS485-USB converter and also configures and starts the telepresence mode. The telepresence scene is drawn with help of SharpDX and SharpOVR - the \csharp wrappers of DirectX and LibOVR.