Simulation of semi-passive dynamic walking for biped walking 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

    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. 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 publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    Pages360-364
    Number of pages5
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok
    Duration: 2009 Feb 212009 Feb 26

    Other

    Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    CityBangkok
    Period09/2/2109/2/26

    Fingerprint

    Walking
    Gears
    Ankle Joint
    Robots
    Torque
    Locomotion
    Computer Simulation
    Leg
    Computer simulation
    Weights and Measures
    Research

    Keywords

    • Humanoid robot
    • Passive dynamic walking
    • Semi-passive walking

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Electrical and Electronic Engineering

    Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2008). Simulation of semi-passive dynamic walking for biped walking robot. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 360-364). [4913030] https://doi.org/10.1109/ROBIO.2009.4913030

    Simulation of semi-passive dynamic walking for biped walking robot. / Omer, Aiman Musa M; Ghorbani, Reza; Lim, Hun Ok; Takanishi, Atsuo.

    2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. p. 360-364 4913030.

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

    Omer, AMM, Ghorbani, R, Lim, HO & Takanishi, A 2008, Simulation of semi-passive dynamic walking for biped walking robot. in 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008., 4913030, pp. 360-364, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, Bangkok, 09/2/21. https://doi.org/10.1109/ROBIO.2009.4913030
    Omer AMM, Ghorbani R, Lim HO, Takanishi A. Simulation of semi-passive dynamic walking for biped walking robot. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. p. 360-364. 4913030 https://doi.org/10.1109/ROBIO.2009.4913030
    Omer, Aiman Musa M ; Ghorbani, Reza ; Lim, Hun Ok ; Takanishi, Atsuo. / Simulation of semi-passive dynamic walking for biped walking robot. 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. pp. 360-364
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