期刊論文
| 學年 | 102 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2014-07-02 |
| 作品名稱 | CORDIC-based FPGA hardware design method for biped walking gait |
| 作品名稱（其他語言） | |
| 著者 | Wong, Ching-Chang; Cheng, Chi-Tai; Liu, Chih-Cheng; Hu, Yueh-Yang |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | Abingdon: Taylor & Francis |
| 著錄名稱、卷期、頁數 | Journal of the Chinese Institute of Engineers |
| 摘要 | In this paper, a simple oscillator-based biped walking method is described and a CORDIC-based FPGA hardware design method is proposed to effectively generate a walking gait in a biped robot. Based on the simple oscillator-based model, some equations represented by sinusoidal functions are proposed to describe a biped walking as a complete walking process with three modes (starting mode, gait cycle mode, and ending mode) and six phases. In these six phases, these oscillation parameters can be represented by the swing length, the step length, and the lifting height of the biped robot. Then an FPGA hardware structure based on the CORDIC operator named circular rotation is proposed and implemented on an FPGA chip. Finally, some comparison of the proposed CORDIC-based FPGA hardware method and the software method are presented. We can see that the proposed hardware method significantly reduces the processing time to generate gait trajectories of a biped robot. |
| 關鍵字 | biped robot;walking gait;CORDIC;FPGA |
| 語言 | en |
| ISSN | 2158-7299 |
| 期刊性質 | 國外 |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | Wong, Ching-Chang |
| 審稿制度 | 否 |
| 國別 | GBR |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/108425 ) |