Abstract
This paper deals with the design of a control unit for biped robot „Golem 2“ with 12 DOF. It contains information about the topology of electronic system, including description of communication between MC units, sensing elements and PC. The kinematic models used for drive robot and the information about their importance for static walking are mentioned. Some information about actuators (Hitec servos) and specificity their control are also described.
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References
Grepl, R., Zezula, P.: Modelling of kinematics of biped robot, Dynamics of machines 2006, ISBN 80-85918-97-8, 2006
Zezula, P., Grepl, R.: Optimization and design of experimental bipedal robot, Journal Engeneering Mechanics, Volume 12, Nr. 4, ISSN 1210-2717, 2005
Zezula, P., Grepl, R.: Construction design and stability control of humanoid robot, Dynamics of machines 2006, ISBN 80-85918-97-8, 2006
Y. Tagawa, T. Yamashita, “Analysis of human abnormal walking using zero moment joint”, 2000
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© 2007 Springer-Verlag Berlin Heidelberg
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Vlachý, D., Zezula, P., Grepl, R. (2007). Control unit architecture for biped robot. In: Jabłoński, R., Turkowski, M., Szewczyk, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73956-2_2
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DOI: https://doi.org/10.1007/978-3-540-73956-2_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73955-5
Online ISBN: 978-3-540-73956-2
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