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: Solutions 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
    Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul
    Duration: 2009 Sep 92009 Sep 11

    Other

    Other12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
    CityIstanbul
    Period09/9/909/9/11

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2010). Simulation based study of a semi-passive dynamic walking for a human size humanoid robot. In Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 (pp. 653-660)