Original title: Modelling of kinematics of biped robot
Translated title: Modelování kinematiky dvounohého robotu
Authors: Grepl, Robert ; Zezula, P.
Document type: Papers
Conference/Event: Dynamics of machines 2006 : colloquium, Praha (CZ), 2006-02-07 / 2006-02-08
Year: 2006
Language: eng
Abstract: [eng] [cze]
This paper presents the procedure of an analytical forward and inverse kinematic model deriving. Forward model is based on standard homogeneous transformation approach. Inverse model is built using a work in basic plane of leg movement with the help of homogeneous transformations in foot and hip joint points. Model built automatically in Matlab/SimMechanics was used as a reference. All the kinematic modelling is motivated by implementation in robot control unit based on microcontrollers Atmel ATMega. V tomto článku je uveden postup návrhu analytického dopředného a inverzního kinematického modelu. Model je založen na standardním přístupu pomocí homogenních transformací. Inverzní model je sestaven pomocí úvahy v rovině pohybu nohy. Automaticky sestavený model (SimMechanics) je použit jako reference. Rychlost výpočtu výsledných rovnic byla testována na mikrokontrolerech Atmel ATMega.
Keywords: biped robot; simmechanics; spatial kinematics
Project no.: CEZ:AV0Z20760514 (CEP)
Host item entry: Dynamika strojů : Dynamics of Machines 2006 : national colloquium with international participation : proceedings, ISBN 80-85918-97-8

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0133582

Permalink: http://www.nusl.cz/ntk/nusl-35400


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers