Stiffness analysis of biped humanoid robot WABIAN-RIV

Giuseppe Carbone; Hun Ok Lim; Atsuo Takanishi; Marco Ceccarelli

doi:10.1016/j.mechmachtheory.2005.05.001

Stiffness analysis of biped humanoid robot WABIAN-RIV

Giuseppe Carbone, Hun Ok Lim, Atsuo Takanishi, Marco Ceccarelli^*

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

Abstract

In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances. An evaluation of stiffness performances is carried out by numerically implementing the proposed formulation. An experimental validation of the numerical results is also carried out on WABIAN-RIV humanoid robot.

Original language	English
Pages (from-to)	17-40
Number of pages	24
Journal	Mechanism and Machine Theory
Volume	41
Issue number	1
DOIs	https://doi.org/10.1016/j.mechmachtheory.2005.05.001
Publication status	Published - 2006 Jan

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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10.1016/j.mechmachtheory.2005.05.001

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title = "Stiffness analysis of biped humanoid robot WABIAN-RIV",

abstract = "In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances. An evaluation of stiffness performances is carried out by numerically implementing the proposed formulation. An experimental validation of the numerical results is also carried out on WABIAN-RIV humanoid robot.",

author = "Giuseppe Carbone and Lim, {Hun Ok} and Atsuo Takanishi and Marco Ceccarelli",

note = "Funding Information: The first author is thankful to the Italian Ministry MIUR for the research project RIME in the program PRIN01 and the Italian National Research Council CNR for the grant 203.21.04, which have permitted him to spend periods of study in the years 2002 and 2003 at the Humanoid Robotics Institute, Waseda University, Tokyo. ",

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AU - Carbone, Giuseppe

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

AU - Ceccarelli, Marco

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Stiffness analysis of biped humanoid robot WABIAN-RIV

Abstract

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