Detail publikačního výsledku

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

ZEZULA, P.; VLACHÝ, D.; GREPL, R.

Originální název

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

Anglický název

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

Druh

Stať ve sborníku v databázi WoS či Scopus

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.

Anglický 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

biped, DOF, VRML, SimMechanics, control, unit, MCU, Atmel

Klíčová slova v angličtině

biped, DOF, VRML, SimMechanics, control, unit, MCU, Atmel

Autoři

ZEZULA, P.; VLACHÝ, D.; GREPL, R.

Vydáno

08.06.2007

Nakladatel

Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz

Místo

GLIWICE

Kniha

Modelling and optimization of physical systems

Edice

2007

Strany od

173

Strany do

178

Strany počet

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"
}