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"
}