FPGA realisation of inverse kinematics for biped robot based on CORDIC

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Journal Article > Item 987654321/112841

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Title:	FPGA realisation of inverse kinematics for biped robot based on CORDIC
Authors:	Ching-Chang Wong;Chih-Cheng Liu
Date:	2013-02-28
Issue Date:	2018-03-02 12:14:30 (UTC+8)
Abstract:	An 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, the FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on an FPGA chip. Finally, the 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.
Relation:	Electronics Letters 49(5), p.332-334
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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