Detail publikace
DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT
ZEZULA, P. VLACHÝ, D. GREPL, R.
Anglický název
DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT
Typ
Stať ve sborníku v databázi WoS či Scopus
Jazyk
en
Originální abstrakt
This paper reports about the design of the humanoid robot. The construction of two legs (six DOF each) is described. Computational modelling has been used, particularly forward and inverse kinematic models as well as dynamical model built in Matlab/SimMechanics. By help of these models, the several functions for the control of moving of robots body have been built. Coordination of robot move was simulated in environment VRML. Farther, there is described the control by using microcontrollers ATMEL ATMega. Next, there are mentioned the real experiments used for the verification of the results of kinematic models. Paper also contains information about the topology of electronic system, including description communication between MC units, sensing elements and PC.
Klíčová slova anglicky
biped, DOF, VRML, SimMechanics, control, unit, MCU, Atmel
Vydáno
2007-06-08
Nakladatel
Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz
Místo
GLIWICE
Kniha
Modelling and optimization of physical systems
Strany od–do
173–178
Počet stran
6
BIBTEX
@inproceedings{BUT24056,
author="Pavel {Zezula} and David {Vlachý} and Robert {Grepl}",
title="DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT",
booktitle="Modelling and optimization of physical systems",
year="2007",
series="2007",
number="6",
pages="173--178",
publisher="Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz",
address="GLIWICE"
}