Publication detail
DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT
ZEZULA, P. VLACHÝ, D. GREPL, R.
Czech title
Návrh mechanické konstrukce a řízení malého experimentálního dvounohého robotu
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.
Czech abstract
Článek pojednává o návrhu konstrukce humanoidního robotu, jako i o návrhu a sestavení elektroniky řídícího systému. Byl použit dopředný i inverzní kinematický model sestavený v SimMechanics. Popsán postup vizualizace pomocí VRML a také je popsáno využití Atmel MCUs pro řídící systém.
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 in Czech
biped, DOF, VRML, SimMechanics, řídící jednotka, MCU, Atmel
Keywords in English
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
Book
Modelling and optimization of physical systems
Edition number
6
Pages from–to
173–178
Pages count
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",
month="June",
pages="173--178",
publisher="Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz",
address="GLIWICE"
}