Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module

Giuseppe Carbone, Yu Ogura, Hun Ok Lim, Atsuo Takanishi, Macro Ceccarelli

    Research output: Contribution to journalArticle

    4 Citations (Scopus)

    Abstract

    In this paper the mechanical design for a new 7-dofs leg is investigated as a walking module for a humanoid robot. In particular, a dynamic simulation is deduced by means of a Newton-Euler formulation and implemented numerically in order to compute the needed input actuator torques. A simulation is carried out for a similar built leg prototype that is used as a walking module for WABIAN-RIV (WAseda BIped humANoid robot-Revised IV). Experimental tests are carried out on this existing leg in order to validate the proposed formulation for a similar application. Thus, the validated formulation has been used in order to design the actuators for a new leg prototype.

    Original languageEnglish
    Pages (from-to)41-50
    Number of pages10
    JournalRobotica
    Volume22
    Issue number1
    DOIs
    Publication statusPublished - 2004 Jan

    Fingerprint

    Dynamic Simulation
    Humanoid Robot
    Actuators
    Robots
    Module
    Formulation
    Actuator
    Computer simulation
    Prototype
    Experiment
    Biped Robot
    Mechanical Design
    Torque
    Experiments
    Euler
    Design
    Simulation

    Keywords

    • Dynamic simulation
    • Humanoid robot
    • Walking module

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module. / Carbone, Giuseppe; Ogura, Yu; Lim, Hun Ok; Takanishi, Atsuo; Ceccarelli, Macro.

    In: Robotica, Vol. 22, No. 1, 01.2004, p. 41-50.

    Research output: Contribution to journalArticle

    Carbone, Giuseppe ; Ogura, Yu ; Lim, Hun Ok ; Takanishi, Atsuo ; Ceccarelli, Macro. / Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module. In: Robotica. 2004 ; Vol. 22, No. 1. pp. 41-50.
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