教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:FPGA realization of inverse kinematics for biped robot based on CORDIC
學年101
學期2
出版(發表)日期2013/02/28
作品名稱FPGA realization of inverse kinematics for biped robot based on CORDIC
作品名稱(其他語言)
著者Wong, C. C.; Liu, C. C.
單位淡江大學電機工程學系
出版者Stevenage: The Institution of Engineering and Technology
著錄名稱、卷期、頁數Electronics Letters 49(5), pp.332-334
摘要A FPGA realisation structure based on CORDIC is proposed to implement inverse kinematics for a biped robot. First, the angle equations of inverse kinematics for the biped robot are described. Based on these equations represented by the inverse tangent function, a FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on a FPGA chip. Finally, comparison of the proposed FPGA realisation and the software realisation to calculate these angle equations is presented to illustrate the effectiveness of the proposed structure.
關鍵字Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System
語言英文
ISSN1350-911X
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別英國
公開徵稿
出版型式,電子版,紙本
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