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 1

Keywords

  • Dynamic simulation
  • Humanoid robot
  • Walking module

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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