Detail publikace

Návrh mechanické konstrukce a řízení malého experimentálního dvounohého robotu

ZEZULA, P. VLACHÝ, D. GREPL, R.

Český název

Návrh mechanické konstrukce a řízení malého experimentálního dvounohého robotu

Anglický název

DESIGN OF MECHANICAL CONSTRUCTION AND CONTROL OF SMALL EXPERIMENTAL BIPED ROBOT

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

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.

Český abstrakt

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.

Anglický abstrakt

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.

Klíčová slova česky

biped, DOF, VRML, SimMechanics, řídící jednotka, MCU, Atmel

Klíčová slova anglicky

biped, DOF, VRML, SimMechanics, control, unit, MCU, Atmel

Rok RIV

2007

Vydáno

08.06.2007

Nakladatel

Redakcja Mariola Jureczko a Redakcja Techniczna Pawel Bachorz

Místo

GLIWICE

Kniha

Modelling and optimization of physical systems

Číslo edice

6

Strany od–do

173–178

Počet stran

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"
}