Title :
Stiffness performance estimation for biped locomotor WL-15
Author :
Carbone, Giuseppe ; Sugahara, Yu ; Lim, H.O. ; Takanishi, A. ; Ceccarelli, Marco
Author_Institution :
DiMSAT, Univ. of Cassino, Italy
Abstract :
In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation.
Keywords :
elastic constants; legged locomotion; motion control; robot kinematics; WL-15 architecture; Waseda Leg 15; biped locomotor; biped robots; design parameters; stiffness matrix; stiffness performance estimation; Algorithm design and analysis; Design engineering; Humanoid robots; Humans; Leg; Legged locomotion; Payloads; Prototypes; Testing; Wheels;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225471
