Simulation of semi-passive dynamic walking for biped walking robot

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

doi:10.1109/ROBIO.2009.4913030

Simulation of semi-passive dynamic walking for biped walking robot

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

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Publisher	IEEE Computer Society
Pages	360-364
Number of pages	5
ISBN (Print)	9781424426799
DOIs	https://doi.org/10.1109/ROBIO.2009.4913030
Publication status	Published - 2009 Jan 1
Event	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand Duration: 2009 Feb 21 → 2009 Feb 26

Publication series

Name	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Conference

Conference	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Country/Territory	Thailand
City	Bangkok
Period	09/2/21 → 09/2/26

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

Access to Document

10.1109/ROBIO.2009.4913030

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

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

2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. IEEE Computer Society, 2009. p. 360-364 4913030 (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Omer, AMM, Ghorbani, R, Lim, HO & Takanishi, A 2009, Simulation of semi-passive dynamic walking for biped walking robot. in 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008., 4913030, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, IEEE Computer Society, pp. 360-364, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, Bangkok, Thailand, 09/2/21. https://doi.org/10.1109/ROBIO.2009.4913030

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title = "Simulation of semi-passive dynamic walking for biped walking robot",

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.",

keywords = "Humanoid robot, Passive dynamic walking, Semi-passive walking",

author = "Omer, {Aiman Musa M.} and Reza Ghorbani and Lim, {Hun Ok} and Atsuo Takanishi",

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N2 - 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.

AB - 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.

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Simulation of semi-passive dynamic walking for biped walking robot

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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