@inbook{632f75716fa04ad5a6d24c7be25a6fe0,
title = "Disturbance Force Generator for Biped Robots",
abstract = "This paper describes the mechanism and control of a disturbance force generator that is able to evaluate disturbance compensation control of biped robots quantitatively. The disturbance generator consists of a base, a motor drive system and a suspension system. In order to apply a disturbance force to a biped humanoid robot, a wire wound on a pulley of the disturbance generator is connected with robot{\textquoteright}s waist. The effectiveness of the disturbance force generator is verified through several disturbance experiments.",
keywords = "Biped robot, Disturbance force generator, Humanoid robot",
author = "Kenji Hashimoto and Kosuke Nishikawa and Juri Shimizu and Aiman Omer and Lim, {Hun ok} and Atsuo Takanishi",
note = "Funding Information: Acknowledgments This study was conducted as part of the Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also supported in part by MEXT/JSPS KAKENHI (Grant Number: 25220005), Toyota Motor Corporation, SolidWorks Japan K.K., and DYDEN Corporation whom we thank for their financial and technical support. Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",
year = "2016",
doi = "10.1007/978-3-319-33714-2_30",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "267--274",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}