DocumentCode
2246158
Title
Stiffness analysis of the humanoid robot WABIAN-RIV: modelling
Author
Carbone, Giuseppe ; Lim, Hun-ok ; Takanishi, Atsuo ; Ceccarelli, Marco
Author_Institution
Lab. of Robotics & Mechatronics, Univ. of Cassino, Italy
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3654
Abstract
In this paper a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances.
Keywords
legged locomotion; manipulator kinematics; matrix algebra; modelling; WABIAN architecture; WAseda BIpedal humANoid Refined IV; humanoid robot; manipulator kinematics; matrix algebra; modelling; numerical estimation; stiffness analysis; stiffness characteristics; stiffness matrix; stiffness parameters; Humanoid robots; Kinematics; Laboratories; Leg; Legged locomotion; Mechatronics; Neck; Performance analysis; Shoulder; System analysis and design;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242157
Filename
1242157
Link To Document