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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242157
