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
PublisherIEEE Computer Society
Pages360-364
Number of pages5
ISBN (Print)9781424426799
DOIs
Publication statusPublished - 2009 Jan 1
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: 2009 Feb 212009 Feb 26

Publication series

Name2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Conference

Conference2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period09/2/2109/2/26

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

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  • Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2009). 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] (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2009.4913030