Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation

Aiman Musa M Omer, Reza Ghorbani, Hun Ok Lim, Atsuo Takanishi

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

    16 Citations (Scopus)

    Abstract

    The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. However, using a spring mechanism instead of high gear ratio transmission could decrease the energy used during walking motion. Therefore, the idea of installing the dynamic walking techniques to WABIAN-2R is proposed. Using computer simulation the design of the ankle joint is modified by adding a spring mechanism and controlled by twisting the joint to set the required torque. Based of dynamic simulation an important step toward developing the passive dynamics walking into the advanced complex humanoid robots is been purposed.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages1600-1605
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore
    Duration: 2009 Jul 142009 Jul 17

    Other

    Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
    CitySingapore
    Period09/7/1409/7/17

    Fingerprint

    Gears
    Torque
    Stiffness
    Robots
    Computer simulation

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2009). Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1600-1605). [5229818] https://doi.org/10.1109/AIM.2009.5229818

    Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation. / Omer, Aiman Musa M; Ghorbani, Reza; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 1600-1605 5229818.

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

    Omer, AMM, Ghorbani, R, Lim, HO & Takanishi, A 2009, Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5229818, pp. 1600-1605, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5229818
    Omer AMM, Ghorbani R, Lim HO, Takanishi A. Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 1600-1605. 5229818 https://doi.org/10.1109/AIM.2009.5229818
    Omer, Aiman Musa M ; Ghorbani, Reza ; Lim, Hun Ok ; Takanishi, Atsuo. / Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. pp. 1600-1605
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