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"
}