DocumentCode
396963
Title
Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV
Author
Carbone, Giuseppe ; Lim, Hun-ok ; Takanishi, Atsuo ; Ceccarelli, Marco
Author_Institution
DiMSAT, Univ. of Cassino, Italy
Volume
2
fYear
2003
fDate
20-24 July 2003
Firstpage
962
Abstract
In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed formulation. An experimental validation of the numerical results is also carried out.
Keywords
compliance control; elastic constants; legged locomotion; humanoid robot WABIAN-RV; stiffness analysis; stiffness performance estimation; Algorithm design and analysis; Humanoid robots; Humans; Kinematics; Leg; Legged locomotion; Mathematical model; Performance analysis; Performance evaluation; Shoulder;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN
0-7803-7759-1
Type
conf
DOI
10.1109/AIM.2003.1225472
Filename
1225472
Link To Document