Publication detail

Control unit architecture for biped robot

VLACHÝ, D. ZEZULA, P. GREPL, R.

Czech title

Struktura a návrh řídící jednotky dvounohého robotu

English title

Control unit architecture for biped robot

Type

conference paper

Language

en

Original abstract

Text deals with the design of a control unit for biped robot "Golem 2" with 12 DOF. It contains information about the topology of electronic system, including description of communication between MC units, sensing elements and PC. The kinematic models used for drive robot and the information about their importance for static walking are mentioned. Some information about actuators (Hitec servos) and specificity their control are also described.

Czech abstract

Text popisuje návrh řídící jednotky malého dvounohého robotu s 12 stupni volnosti. Obsahuje informace o topologii elektronického systému, včetně popisu práce kooperujících mikropočítačů, senzorů a PC. Je věnován prostor popisu použitých kinematických modelů a popisu jejich významu pro statickou chůzi. Použité pohony, představované servomotory Hitec a jejich specifika jsou také popsány.

English abstract

Text deals with the design of a control unit for biped robot "Golem 2" with 12 DOF. It contains information about the topology of electronic system, including description of communication between MC units, sensing elements and PC. The kinematic models used for drive robot and the information about their importance for static walking are mentioned. Some information about actuators (Hitec servos) and specificity their control are also described.

Keywords in Czech

MCU, Atmel, Řídící jednotka, dvounoh, Golem 2, robot

Keywords in English

MCU, Atmel, Control unit, biped, Golem 2, robot

RIV year

2007

Released

19.09.2007

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition number

1

Pages from–to

6–10

Pages count

5

BIBTEX


@inproceedings{BUT29226,
  author="David {Vlachý} and Pavel {Zezula} and Robert {Grepl},
  title="Control unit architecture for biped robot",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  month="September",
  pages="6--10",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}