Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint

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

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

    5 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. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. The spring stiffness could be controlled by twisting the joint to set the required torque. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.

    Original languageEnglish
    Title of host publicationICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
    Pages681-685
    Number of pages5
    DOIs
    Publication statusPublished - 2009
    Event4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington
    Duration: 2009 Feb 102009 Feb 12

    Other

    Other4th International Conference on Autonomous Robots and Agents, ICARA 2009
    CityWellington
    Period09/2/1009/2/12

    Fingerprint

    Gears
    Torque
    Stiffness
    Robots
    Computer simulation

    Keywords

    • Bipedal walking
    • Humanoid robot
    • Semi passive walking

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Software

    Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2009). Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint. In ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents (pp. 681-685). [4803957] https://doi.org/10.1109/ICARA.2000.4803957

    Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint. / Omer, Aiman Musa M; Ghorbani, Reza; Lim, Hun Ok; Takanishi, Atsuo.

    ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. p. 681-685 4803957.

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

    Omer, AMM, Ghorbani, R, Lim, HO & Takanishi, A 2009, Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint. in ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents., 4803957, pp. 681-685, 4th International Conference on Autonomous Robots and Agents, ICARA 2009, Wellington, 09/2/10. https://doi.org/10.1109/ICARA.2000.4803957
    Omer AMM, Ghorbani R, Lim HO, Takanishi A. Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint. In ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. p. 681-685. 4803957 https://doi.org/10.1109/ICARA.2000.4803957
    Omer, Aiman Musa M ; Ghorbani, Reza ; Lim, Hun Ok ; Takanishi, Atsuo. / Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint. ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. pp. 681-685
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