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2 Modelling and Optimization of Physical Systems

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MEMS accelerometer as inclinometer on two wheel balanced robot

Vlachy D., Zezula P.

Modelling and Optimization of Physical Systems

2008

z. 7

103--106

This paper deals with using of MEMS accelerometer as inclinometer. This accelerometer is fixed on two wheels balanced robot. We don't know exact orientation of accelerometer's axis and in addition the output signal (voltage) is impressed by noise. Main goal is determined dependability between robot's tilt and output voltage from MEMS accelerometer. Nonlinear regression model is used for solution.

Design of mechanical construction and control of small experimental biped robot

Zezula P., Vlachy D., Grepl R.

Modelling and Optimization of Physical Systems

2007

z. 6

173--178

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.