Abstract
This paper deals with proposal of humanoid robot construction. The construction of two legs (six DOF each) is described. Computational modelling was used, particularly forward and inverse kinematic model. By help of these models was produce several functions for the control of moving robot’s body. Coordination of robot move was simulated in environment VRML.
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References
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
Ch. Zhou, Q. Meng, “dynamic balance of a biped robot using fuzzy reinforcement learning agents”, 2005
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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Zezula, P., Vlachý, D., Grepl, R. (2007). Simulation modeling, optimalization and stabilisation of 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_25
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DOI: https://doi.org/10.1007/978-3-540-73956-2_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73955-5
Online ISBN: 978-3-540-73956-2
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