CORDIC-based FPGA hardware design method for biped walking gait

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/108425

請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/108425

題名:	CORDIC-based FPGA hardware design method for biped walking gait
作者:	Wong, Ching-Chang;Cheng, Chi-Tai;Liu, Chih-Cheng;Hu, Yueh-Yang
關鍵詞:	biped robot;walking gait;CORDIC;FPGA
日期:	2014-07-02
上傳時間:	2016-11-25 02:11:09 (UTC+8)
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.
關聯:	Journal of the Chinese Institute of Engineers 38(5), pp.610-620
DOI:	10.1080/02533839.2015.1010454
顯示於類別:	[電機工程學系暨研究所] 期刊論文

文件中的檔案:

檔案	描述	大小	格式	瀏覽次數
index.html		0Kb	HTML	172	檢視/開啟

在機構典藏中所有的資料項目都受到原著作權保護.

TAIR相關文章