FPGA realisation of inverse kinematics for biped robot based on CORDIC. Issue 5 (1st February 2013)

• Record Type: Journal Article
• Authors: Wong, C.C.; Liu, C.C.
• Is Part Of: Electronics letters. Volume 49:Issue 5(2013)
• Page Start: 332
• Page End: 334
• Publication Date: 2013-02-01
• Subjects: field programmable gate arrays -- legged locomotion -- robot kinematics; inverse kinematics -- biped robot -- FPGA realisation structure -- angle equation -- inverse tangent function -- CORDIC operator -- circular vectoring -- hyperbolic vectoring -- FPGA chip -- software realisation; Electronics -- Periodicals; 621.381
• DOI: 10.1049/el.2012.4280
• Languages: English
• ISSNs: 0013-5194

Abstract

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.