Publication detail

MODELLING OF BIPEDAL ROBOT: KINEMATICAL NUMERICAL MODELS

GREPL, R.

Czech title

Modelování dvounohého robotu: kinematický numerický model

English title

MODELLING OF BIPEDAL ROBOT: KINEMATICAL NUMERICAL MODELS

Type

conference paper

Language

en

Original abstract

Modelling of kinematics is one of the basic task related to walking machines. In this paper, we present the building of numerical computational forward and inverse kinematic models of bipedal robotic leg. Models are implemented in Matlab/Simulink/SimMechanics environment. All computations are numerical only, so no analytical model is formed. Advantages and disadvantages of such approach are discussed. The role of this way of modelling in whole design and development process is also mentioned.

Czech abstract

Modelování kinematiky je jednou ze základních otázek vztažených ke konstrukci kráčejících strojů. V tomto příspěvku bude prezentován návrh numerického výpočtového modelu dvounohého kráčejícího robotu v prostředí Matlab – SimMechanics. Výhody a nevýhody zvoleného přístupu jsou v článku diskutovány.

English abstract

Modelling of kinematics is one of the basic task related to walking machines. In this paper, we present the building of numerical computational forward and inverse kinematic models of bipedal robotic leg. Models are implemented in Matlab/Simulink/SimMechanics environment. All computations are numerical only, so no analytical model is formed. Advantages and disadvantages of such approach are discussed. The role of this way of modelling in whole design and development process is also mentioned.

Keywords in Czech

kráčející robot, modelování, SimMechanics

Keywords in English

walking machine, modelling, SimMechanics

Released

29.03.2005

Publisher

ÚMTMB FSI VUT v Brně

Location

Brno

ISBN

80-214-2373-0

Book

Aplikovaná mechanika 2005

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT15953,
  author="Robert {Grepl},
  title="MODELLING OF BIPEDAL ROBOT: KINEMATICAL NUMERICAL MODELS",
  booktitle="Aplikovaná mechanika 2005",
  year="2005",
  month="March",
  publisher="ÚMTMB FSI VUT v Brně",
  address="Brno",
  isbn="80-214-2373-0"
}