Wyniki wyszukiwania - BazTech

1

Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques

Mikołajczyk Kacper, Szumowski Maksymilian, Woliński Łukasz

Archive of Mechanical Engineering

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2022

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LXIX, nr 3

393--409

EN

A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The description of motion in the frame associated with the supporting foot allows one to represent the robot as a composite of several serial open-loop redundant manipulators. Stability during the motion is provided by the trajectory of the robot’s center of mass which ensures that the zero moment point criterion is fulfilled. Inverse kinematics solution is performed offline using the redundancy resolution at the velocity level. The proposed method utilizes robot’s redundancy to fulfill joint position limits and to reduce gravity-related joint torques. The method have been tested in simulations and experiments on a humanoid robot Melson, and results are presented.

2

Humanoid robot path planning using rapidly explored random tree and motion primitives

Szumowski Maksymilian, Zielinska Teresa

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 1

24--30

EN

Path planning is an essential function of the control sy‐ stem of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Ge‐ neration System is also presented. Described path plan‐ ner utilizes a limited number of motions called the Mo‐ tion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* like heuristics were tested. For the last one the version with biased random function was also considered. All menti‐ oned algorithms were evaluated considering three diffe‐ rent scenarios. Obtained results are described and discus‐ sed.

3

Gerontechnology — the assessment of one selected technology improving the quality of life of older adults

Halicka Katarzyna

Engineering Management in Production and Services

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2019

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Vol. 11, no. 2

43--51

EN

Older adults experience difficulties in their daily lives as their health deteriorates. Gerontechnology (the compilation of terms “gerontology” and “technology”) helps in the resolution of problems faced by older adults by improving their quality of life and, above all, developing tools to facilitate the access of older adults to all goods, services and infrastructure, which is also the understanding of the term used in this paper. The article mainly aimed to assess the selected gerontechnology that improved the quality of life of older adults in terms of different criteria, namely, innovation, demand, socioethics, usability, and functionality. It also analysed whether the respondent's age and gender had any influence on the assessment. Care robots were chosen from among the variety of gerontechnologies. The survey was conducted in the first quarter of 2018 and involved 643 people from different voivodships of Poland. Two types of questionnaires were designed. The electronic form of the survey was distributed using social media and snowball techniques, and the paper form was sent by traditional post to all nursing homes in Poland.

4

Preview Control applied for humanoid robot motion generation

Szumowski Maksymilian, Żurawska Magdalena Sylwia, Zielińska Teresa

Archives of Control Sciences

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2019

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Vol. 29, No. 1

111--132

EN

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.

5

Zastosowanie metody ZMP Preview Control w robocie humanoidalnym

Szumowski M., Żurawska M. S., Zielińska T.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2018

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z. 196

209--218

PL

W artykule przedstawiono predykcyjną metodę generowania chodu robota dwunożnego (metoda Preview Control). Trajektorie ruchu uzyskiwane są tutaj w trybie offline. Do obliczeń dynamiki ruchu robota dwunożnego wykorzystano uproszczony model masy posadowionej na stoliku z dołączonym obciążeniem bezwładnościowym (Extended Cart-Table). Wzorzec ruchu uzyskany jest z wykorzystaniem metody Preview Control. Robot rzeczywisty prawidłowo odtworzył wygenerowane trajektorie i wykonał zadaną liczbę kroków.

EN

Gait generation algorithm for two-legged robot is presented. Preview Control method was applied, angular trajectories for actuator were obtained offline. Simplified model of humanoid robot was applied. Extended cart-table model was augmented considering the stabilizer of the robot. Play back of generated trajectories was performed on the real robot and the robot successfully walked demanded number of steps.

6

Implementation of hardware abstraction layer dedicated for adaptive information exchange system

Strzelczyk P.

Zeszyty Naukowe. Elektryka / Politechnika Opolska

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2017

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z. 75

91--92

EN

This article presents the architecture of the hardware abstraction layer used in the implementation of the adaptive information exchange system, which is the basis of the control system of the exoskeleton part of the dissertation.

7

Sztuczne sieci neuronowe jako motoryczna pamięć asocjacyjna ręki robota humanoidalnego

Olszewski P., Kamiński W. A.

Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska

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2017

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T. 7, nr 3

72--77

PL

Opisane badania dotyczą użycia sztucznych sieci neuronowych przy realizacji asocjacyjnej pamięci motorycznej zarządzającej ręką robota humanoidalnego. Zaproponowano model kognitywnego sterowania odwołujący się do struktur i mechanizmów przetwarzania znanych z badań neurofizjologicznych. Do realizacji asocjacji posłużono się dwiema różnymi sieciami: maszyną płynową i jednokierunkową siecią asocjacyjną podobną do BAM.

EN

This paper relates to the artificial neural networks usage for the purpose of associative memory implementation managing humanoid robot hand. Refering to the structures and mechanisms of processing known from neurophysiological studies model of cognitive control was proposed. In the association realization process two different networks were used: a liquid state machine and a one-way associative network similar to BAM.

8

Wykorzystanie robota humanoidalnego Robowisdom w dydaktyce techniki cyfrowej

Noga K. M.

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

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2016

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Nr 51

127--130

PL

W artykule zostały przedstawione kilkuletnie doświadczenia wynikające z wykorzystania na zajęciach laboratoryjnych z Techniki Cyfrowej na Wydziale Elektrycznym Akademii Morskiej w Gdyni robotów humanoidalnych Robowisdom. Omówiono budowę robota oraz zasady sterowania. Ponadto przedstawiono przykłady współpracy robota z zestawami dydaktycznymi DE_2, DE_0_Nano oraz platformą Arduino Yun.

EN

The article presents several years of the operation experiences with the remote - controlled robot Robowisdom in the digital technique laboratory on Electrical Engineering Faculty in Gdynia Maritime University. The building of the robot and the principle of controlling was described. The examples of the co-operation of the robot with didactic platforms DE_2, DE_0_Nano and Arduino Yun were presented too.

9

Modelowanie ruchu robota humanoidalnego z wykorzystaniem koncepcji podwójnego odwróconego wahadła

Żurawska M. S., Zielińska T., Szumowski M.

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2016

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z. 195, t. 1

125--134

PL

W artykule zaproponowano model odwzorowujący cechy chodu człowieka. Model ten składa się z dwu odwróconych wahadeł połączonych parą obrotową. Masy punktowe znajdujące się na wahadłach mogą przesuwać się. Dzięki wprowadzeniu sterowanej zmiany położenia mas, model może zostać wykorzystany nie tylko do opisania podstawowych sytuacji ruchowych (jak np. chód, bieg), ale również daje możliwość opisania złożonych sytuacji, jak np. popchnięcie obiektu w plecy, czy zmiany rodzaju chodu (np. przejście z chodu do biegu). W artykule przeanalizowano dane uzyskane z eksperymentów dotyczących podstawowych (chód i bieg) i złożonych (popchnięcie obiektu w plecy) sytuacji ruchowych. Na ich podstawie przeprowadzono weryfikację zaproponowanego modelu. Weryfikacja opisanej koncepcji polegała na odtworzeniu sytuacji popchnięcia obiektu w plecy z wykorzystaniem modelu podwójnego odwróconego wahadła.

EN

The simple model which allows to represent the kinematic synergies in the human motion was proposed. The model consists of two inverted pendulums connected by revolute joint. The position of pendulum point masses is not constant, the possibility of changing their position allows to imititate the properties of not only the basic movements (e.g. walking, running) but also of the complex motions like postural push recovery or gait transitions. For establishing this model the experimental data were considered for walking, running and push recovery. Based on experiments proposed model was verified. The push recovery behaviour was succesfully modelled using the concept of double inverted pendulum with movable masses.

10

The robot joint lubrication with ultra-thin hyperelastic superficial layers

Wierzcholski K., Miszczak A.

Journal of KONES

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2016

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Vol. 23, No. 3

555--562

EN

The surface of humanoid robots is more or less deformable metal and plastic replica of human body. An advanced humanoid robot has human like behaviour – it can talk, run, jump or climb stairs in a very similar way a human does. Hence follows that operation of construction of the robots artificial joints to be similar for biological joints activities. This fact requires applying proper as well corresponding soft solid materials, and specific lubricants. To the interesting phenomena belong the fact, that as well the surfaces of an articular cartilage human joint as the soft surfaces of the robot joints, coated with ultra-thin hyperelastic multi-layers, plays an important role in the surface active lubrication, relative small friction forces and wear during the human limb or robot body activities in the movement. The presence of the ultra-thin hyperelastic layers consisting the soft bearing materials including hyperelastic nano-particles during the robot bearing lubrication enables to indicate numerous positive effects among other the decreases the friction coefficient values. Therefore, the results obtained in this paper may be applicable during the joint-endo-prosthesis or artificial joint design in new humanoid robots, where instead cartilage and synovial fluid are applied new soft materials with active hyperelastic micro- and nano- particles. In this paper is shortly presented the mathematical model of hydrodynamic lubrication of thin boundary layer describing the robot joint. Mathematical model in 3D for lubricant consists of three equations of motion, continuity equation, conservation of energy equation and Young-Kelvin-Laplace equation describing the thin layer interfacial energy.

11

Adaptation of the humanoid robot to speech disfluency therapy

Kwaśniewicz Ł., Kuniszyk-Jóźkowiak W., Wójcik G. M., Masiak J.

Bio-Algorithms and Med-Systems

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2016

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Vol. 12, no. 4

169--177

EN

The paper describes an application that allows to use a humanoid robot as a stutterer’s assistant and therapist. Auditory and visual feedback has been used in the therapy with a humanoid robot. For this purpose, the common method of “echo” was modified. The modification is that the speaker hears delayed speech sounds uttered by the robot. The sounds of speech coming from an external microphone are captured and delayed by a computer and then, using User Datagram Protocol (UDP), sent to the robot’s system and played in its speakers. This system allows the elimination of negative feedback and external sound field’s noise. The effect of this therapy is enhanced by the fact that, in addition to the effect, relating to the action of the delayed feedback, the speaker has company during the difficult process of speaking. Visual feedback has been realized as changes in the robot’s hand movements according to the shape of the speech signal envelope and possibility of controlling speech with a metronome effect.

12

Rola podatności stopy w chodzie dwunożnym

Żurawska M., Szumowski M., Zielińska T.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2014

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z. 194, t. 2

681--690

PL

W pracy zaproponowano model podanej stopy robota dwunożnego będący systemem czterech układów typu sprężyna-tłumik. Przedstawiono wyniki analizy stabilności chodu z wykorzystaniem metody ZMP. Stosując zasadę prac przygotowanych wyprowadzono zależności opisujące siły reakcji przyłożone w punktach umiejscowienia elementów podatnych stopy. Znajomość tych sił jest niezbędna do wyznaczenia położenia punktu ZMP określającego stabilność postury robota. Porównano trajektorie punktu ZMP uzyskane dla chodu bez podatnych stóp, oraz dla chodu ze stopami podatnymi. Celem przeprowadzonych prac jest wspomożenie rozwoju opracowywanej konstrukcji robota humanoidalnego oraz wstępne (teoretyczne) zbadanie stabilności posturalnej w trakcie chodu.

EN

A compliant foot dedicated to a real construction of a humanoidal robot is introduced. The foot consists of a system of four spring-damper sets located in four corners of a foot. The study of the stability criteria is provided using the Vukobratovic's Zero Moment Point method. The principle of virtual works is used to determine the reaction forces in points where spring-damper sets are applied. It is necessary to know this forces in case of determining the trajectory of ZMP point that is the criteria of stable walk. Two trajectories are compared: for biped with rigid feet and for biped with compliant feet. The aim of the activities described in this article is to support the development of the biped robot prototype and basic investigation of the stability during robot's gait.

13

Motion direction control of a robot based on chaotic synchronization phenomena

Volos C. K.

Journal of Automation Mobile Robotics and Intelligent Systems

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2013

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Vol. 7, No. 2

64--69

EN

This work presents chaotic motion direction control of a robot and especially of a humanoid robot, in order to achieve complete coverage of the entire work terrain with unpredictable way. The method, which is used, is based on a chaotic true random bits generator. The coexistence of two different synchronization phenomena between mutually coupled identical nonlinear circuits, the well-known complete chaotic synchronization and the recently new proposed inverse π-lag synchronization, is the main feature of the proposed chaotic generator. Computer simulations confirm that the proposed method can obtain very satisfactory results in regard to the fast scan of the entire robot’s work terrain.

14

Robot humanoidalny ROMAN wyrażający emocje

Mianowski K., Hirth J., Berns K.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2012

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z. 182, t. 2

649--658

PL

W ostatnim czasie w pracach wielu ośrodków badawczych na świecie wzrasta zainteresowanie tzw. robotami personalnymi zwanymi też robotami asystentami, które towarzysząc człowiekowi w różnych sytuacjach wspomagałyby go w jego pracy zarówno wykonywanej fizycznie jak i w pracy umysłowej/intelektualnej. W niniejszej pracy przedstawiono projekt robota humanoidalnego ROMAN prowadzony od kilku lat na Uniwersytecie Technicznym w Kaiserslautern w Niemczech, którego zadaniem jest asystowanie człowiekowi, przy czym w komunikacji niewerbalnej robot wspomaga się wyrażaniem emocji np. przez gestykulacje.

EN

This paper presents the design of humanoid robot Roman, which is able to generate of gestures as nonverbal interaction signals for comunnication with people. The geometry of basic links and ranges of motions have been investigated to obtain solution very similar to the human body. Mechanical design and the prototype of the robot Roman - artificial body, hands and the head was designed with using fully integrated CAD/CAM/CAE system ProEngineer v4.0. The methodology of very modem mechatronic design, which allow to higly integrates mechanical/electric/electronic parts of the prototype is described in the paper in details. It has been shown, that it is possible to create basic functional characteristics of the solution in the phase of the virtual design. Robot can be apply as a guiding principle for the construction of humanoid robot for expression emotions.

15

Integracja czujników inercyjnych z konstrukcją robota humanoidalnego cz. I

Kosiński P., Świątek-Brzeziński P., Osypiuk R.

Pomiary Automatyka Kontrola

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2012

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R. 58, nr 12

1091-1094

PL

W niniejszym artykule przedstawiono założenia projektowe oraz budowę systemu sterowania ruchem dla robota humanoidalnego Futaba RBT-1. Zaprezentowano wykonany sterownik oparty o mikrokontroler z rdzeniem ARM7, wyposażony w interfejs komunikacji do sterowania serwonapędami cyfrowymi, moduły radiowej wymiany danych oraz zestaw czujników inercyjnych. Ponadto zwrócono uwagę na interesującą metodę wyznaczania wychylenia poruszającego się obiektu względem Ziemi.

EN

This paper presents a part of the control system of the humanoid robot Futaba RBT-1. The hardware consists of a microprocessor based controller equipped with a communication interface for digital servos in robot legs. The main parts of the controller are: an ARM microcontroller, a wireless communication module TLX2401 and a Bluetooth. There was chosen an advanced sensor ADIS16362 iSensorŽ which is a complete inertial system that includes a triaxis gyroscope, a triaxis accelerometer and a programmable digital low-pass filter. The robot control system is shown in Fig. 1. In Section 4 the Inertial Navigation System (INS) is described. It uses the data obtained from the accelerometer and gyroscope to calculate the inclination of the robot body in respect to the gravity direction. It is based on "Efficient Orientation Filter" (developed by Dr. Sebastian Madgwick [1]) which despite being computationally efficient gives very good results. Small computational demands allow it to run on a microcontroller with the ARM7 core in real-time which would be difficult with e.g. Extended Kalman Filter. The main control application (described in the second part of this paper) runs on a PC computer. The robot controller radio-communicates with the PC through ISM 2.4GHz radio modules. Furthermore, the controller has a Bluetooth module which enables it to send measurement data for convinient visualisation in the Matlab/Simulink enviroment.

16

Bayesian model for multimodal sensory information fusion in humanoid

Wong W. K., Loo L. C., Neoh T. M., Liew Y. W., Lee E. K.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

16-22

EN

In this paper, the Bayesian model for bimodal sensory information fusion is presented. It is a simple and biological plausible model used to model the sensory fusion in human’s brain. It is adopted into humanoid robot to fuse the spatial information gained from analyzing auditory and visual input, aiming to increase the accuracy of object localization. Bayesian fusion model requires prior knowledge on weights for sensory systems. These weights can be determined based on standard deviation (SD) of unimodal localization error obtained in experiments. The performance of auditory and visual localization was tested under two conditions: fixation and saccade. The experiment result shows that Bayesian model did improve the accuracy of object localization. However, the fused position of the object is not accurate when both of the sensory systems were bias towards the same direction.

17

Dynamic Motion Control: Adaptive Bimanual Grasping for a Humanoid Robot

Mellmann H., Cotugno G.

Fundamenta Informaticae

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2011

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Vol. 112, nr 1

89-101

EN

The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. There are a lot of different approaches tackling this problem; however, there is no general solution. The complexity and the skill of a possible grasping motion depend hardly on a particular robot. In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand’s mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.

18

Tendon drive of the humanoid robot

Zając Z.

Zeszyty Naukowe. Elektryka / Politechnika Opolska

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2010

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z. 63

65-66

EN

The paper describes preliminary measurement results for tendons driving a simplified model of arm of a humanoid robot.

19

Robot androidalny ROMAN wyrażający emocje

Mianowski K., Berns K., Schmitz N.

Pomiary Automatyka Robotyka

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2008

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R. 12, nr 2

350--360

PL

Od zarania ludzkości ludzie interesowali się podobieństwem między organizmami żywymi i budowanymi przez siebie różnymi mechanizmami i maszynami. Współczesny rozwój robotów usługowych i tzw. robotyki serwisowej pokazuje wzmożone zainteresowanie tzw. robotami personalnymi. Roboty takie pomagają w codziennej obsłudze osób niepełnosprawnych i w podeszłym wieku, jak też mogą być wykorzystane w celach zabawowych. Przewiduje się, że roboty serwisowe będą z czasem coraz bardziej podobne do ludzi i będą mogły komunikować się z nimi w sposób naturalny dla człowieka. Należy zaznaczyć, że komunikacja międzyludzka polega nie tylko na rozmowie, ale jest związana z przekazem informacji ruchami ciaża i np. skóry twarzy, przez co człowiek wyraża różnorodne emocje. W tym artykule autorzy przedstawiają wstępną wersję humanoidalnego robota ROMAN z głową wyposażoną w sztuczne oczy i sztuczną skórą twarzy, umocowaną z użyciem odpowiednio zaprojektowanego mechanizmu szyi na tułowiu zawierającym komputer sterujący. Aktualny stan realizacji projektu zawiera złożony układ sensoryczny współpracujący z systemem wyrażania emocji.

EN

Future service robots will more and more be able to communicate with humans in a natural way. The communication between humans is not only based on speech in fact movements and emotions are very important. The expression of those emotions is a combination of neck, eyes and skin movements. Therefore the paper presents the construction of the humanoid robot head ROMAN with artificial eyes and neck. The head includes actuators, sensors and mechanical parts which are all integrated into the head. The currents design enable the robot to include a complex sensors system and a complete emotional system. The artificial skeleton consists of the entire head and the lower jaw which are attached to the main plates together with the servo motors. The silicon skin is glued to the skeleton and can be moved with the help of 8 small metal plates which are connected to the servo motors with cables.

20

Design of mechanical construction and control of small experimental biped robot

Zezula P., Vlachy D., Grepl R.

Modelling and Optimization of Physical Systems

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2007

|

z. 6

173--178

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.