Design of mechanical construction and control of small experimental biped robot

• Autorzy: Zezula P. , Vlachy D. , Grepl R.
• Konferencja: International Seminar of Applied Mechanics (11 ; 08-10.06.2007 ; Wisła, Polska)
• Języki publikacji: EN

Abstrakty

EN

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 robot's 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.

Słowa kluczowe

EN

humanoid robot; biped robot; robotic; VRML

PL

robot humanoidalny; robot dwunożny; robotyka; VRML

• Wydawca: Wydawnictwo Katedry Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Modelling and Optimization of Physical Systems
• Rocznik: 2007
• Tom: z. 6
• Strony: 173--178
• Opis fizyczny: Bibliogr. 6 poz.

Twórcy

autor

Zezula P.

• Institute of Solid Mechanics, Mechatronics and Biomechanics, Faculty of Mechanical Engineering, Brno University of Technology, Czech Republic

autor

Vlachy D.

• Institute of Solid Mechanics, Mechatronics and Biomechanics, Faculty of Mechanical Engineering, Brno University of Technology, Czech Republic

autor

Grepl R.

• Institute of Solid Mechanics, Mechatronics and Biomechanics, Faculty of Mechanical Engineering, Brno University of Technology, Czech Republic

Bibliografia

• [1] R. Grepl, P. Zezula, "Modelling of kinematics of biped robot", Colloquium Dynamics of Machines 2006, Prague, February 7-8, Czech Republic, ISBN 80-85918-97-8, 2006
• [2] Ch.Zhou, Q. Meng, "dynamic balance of a biped robot using fuzzy reinforcement learning agents", 2005
• [3] Y. Tagawa, T. Yamashita, "Analysis of human abnormal walking using zero moment joint", 2000
• [4] Zezula, P., Grepl, R.: Optimization and design of experimental bipedal robot, Journal Engeneering Mechanics, Volume 12, Nr. 4 , ISSN 1210-2717, 2005
• [5] Zezula, P., Grepl, R.: Construction design and stability control of humanoid robot, Dynamics of machines 2006, ISBN 80-85918-97-8, 2006
• [6] Oh, S.N., Kim, K.I., Lim, S.: Motion Control of Biped Robots Using a Single-Chip Drive, Proceedings of the 2003 IEEE International Conference on Robotics and Automation Taipei, Taiwan, 14.-19.9.2003