教師資料查詢 | 類別: 期刊論文 | 教師: 鄭吉泰 Cheng Chi Tai (瀏覽個人網頁)

標題:CORDIC-based FPGA hardware design method for biped walking gait
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
語言英文
ISSN2158-7299
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
國別英國
公開徵稿
出版型式,紙本
相關連結
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