Simulation of semi-passive dynamic walking for humanoid robots

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

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

    2 Citations (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 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 to 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 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
    Pages541-544
    Number of pages4
    DOIs
    Publication statusPublished - 2008
    Event2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon
    Duration: 2008 Dec 12008 Dec 3

    Other

    Other2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
    CityDaejeon
    Period08/12/108/12/3

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction

    Cite this

    Omer, A. M. M., Ghorbani, R., Lim, H. O., & Takanishi, A. (2008). Simulation of semi-passive dynamic walking for humanoid robots. In 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 (pp. 541-544). [4756028] https://doi.org/10.1109/ICHR.2008.4756028