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 Jun 5
Event4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington, New Zealand
Duration: 2009 Feb 102009 Feb 12

Publication series

NameICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents

Conference

Conference4th International Conference on Autonomous Robots and Agents, ICARA 2009
CountryNew Zealand
CityWellington
Period09/2/1009/2/12

Keywords

  • Bipedal walking
  • Humanoid robot
  • Semi passive walking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Software

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    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] (ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents). https://doi.org/10.1109/ICARA.2000.4803957