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

17 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 publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages1600-1605
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation'. Together they form a unique fingerprint.

  • 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 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 1600-1605). [5229818] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229818