TY - GEN
T1 - Simulation of semi-passive dynamic walking for humanoid robots
AU - Omer, Aiman Musa M.
AU - Ghorbani, Reza
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2008/12/1
Y1 - 2008/12/1
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 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.
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 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.
UR - http://www.scopus.com/inward/record.url?scp=63549122084&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63549122084&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2008.4756028
DO - 10.1109/ICHR.2008.4756028
M3 - Conference contribution
AN - SCOPUS:63549122084
SN - 9781424428229
T3 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
SP - 541
EP - 544
BT - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
T2 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Y2 - 1 December 2008 through 3 December 2008
ER -