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
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;
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.2003.1225472
