Experimental evaluation of stiffness performance for a biped walking vehicle with parallel architecture

Kenji Hashimoto, Giuseppe Carbone, Yusuke Sugahara, Marco Ceccarelli, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The main goal of this paper is to report a successful attempt of monitoring the stiffness behavior of a biped walking vehicle during its dynamic operation. In particular, a suitable procedure has been developed and implemented for estimating the stiffness performance of WL-16RV as based on previous experiences at LARM with Milli-CaTraSys design. The proposed experimental set-up is composed of six linear encoder wire sensors and two force/torque sensors embedded in each foot. Experimental tests are conducted on a biped walking vehicle WL-16RV under static and dynamic conditions. The experimental tests provide useful information for both design and control purposes.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages928-935
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - 2010 Jan 1
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: 2010 Aug 312010 Sep 3

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period10/8/3110/9/3

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Hashimoto, K., Carbone, G., Sugahara, Y., Ceccarelli, M., & Takanishi, A. (2010). Experimental evaluation of stiffness performance for a biped walking vehicle with parallel architecture. In H. Fujimoto, M. O. Tokhi, H. Mochiyama, & G. S. Virk (Eds.), Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 (pp. 928-935). (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010). World Scientific. https://doi.org/10.1142/9789814329927_0114