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    題名: FPGA realization of inverse kinematics for biped robot based on CORDIC
    作者: Wong, C. C.;Liu, C. C.
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System
    日期: 2013-02-28
    上傳時間: 2013-04-11 10:54:44 (UTC+8)
    出版者: Stevenage: The Institution of Engineering and Technology
    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.
    關聯: Electronics Letters 49(5), pp.332-334
    DOI: 10.1049/el.2012.4280
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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