Publication detail

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

ZEZULA, P. VLACHÝ, D. GREPL, R.

Original Title

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

English Title

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

Type

conference paper

Language

en

Original Abstract

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.

English abstract

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.

Keywords

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

RIV year

2007

Released

08.06.2007

Publisher

Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz

Location

GLIWICE

Pages from

173

Pages to

178

Pages count

6

Documents

BibTex


@inproceedings{BUT24056,
  author="Pavel {Zezula} and David {Vlachý} and Robert {Grepl}",
  title="DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT",
  annote="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.",
  address="Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz",
  booktitle="Modelling and optimization of physical systems",
  chapter="24056",
  edition="2007",
  institution="Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz",
  year="2007",
  month="june",
  pages="173--178",
  publisher="Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz",
  type="conference paper"
}