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"
}