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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/85967


    Title: FPGA realization of inverse kinematics for biped robot based on CORDIC
    Authors: Wong, C. C.;Liu, C. C.
    Contributors: 淡江大學電機工程學系
    Keywords: Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System
    Date: 2013-02-28
    Issue Date: 2013-04-11 10:54:44 (UTC+8)
    Publisher: Stevenage: The Institution of Engineering and Technology
    Abstract: 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.
    Relation: Electronics Letters 49(5), pp.332-334
    DOI: 10.1049/el.2012.4280
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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