Simulation based study of a semi-passive dynamic walking for a human size humanoid robot

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

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

1 Citation (Scopus)

Abstract

This study investigates the effects of semi-passive dynamics bipedal walking on humanoid robots using a simulation approach. WABIAN-2R is a human size robot developed to be used as human motion simulator. It has 39 degrees of freedom of rigid joints and is selected for this study. The actuator of the ankle joint and its harmonic drive is replaced with an elastic joint. This configuration creates a semi-passive bipedal walker, since the rest of the joints are actively controlled to track a desired gait pattern. The passive movement of the elastic ankle joint stores part of the energy of the robot during the collision phase into an elastic form and returns that energy during the rebound phase. The robot can successfully finish a limited number of walking steps.

Original languageEnglish
Title of host publicationMobile Robotics
Subtitle of host publicationSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
Pages653-660
Number of pages8
Publication statusPublished - 2010 Dec 1
Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul, Turkey
Duration: 2009 Sep 92009 Sep 11

Publication series

NameMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
CountryTurkey
CityIstanbul
Period09/9/909/9/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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