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 | |
| Publication status | Published - 2006 Jan |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Stiffness analysis of biped humanoid robot WABIAN-RIV. / Carbone, Giuseppe; Lim, Hun Ok; Takanishi, Atsuo; Ceccarelli, Marco.
In: Mechanism and Machine Theory, Vol. 41, No. 1, 01.2006, p. 17-40.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Stiffness analysis of biped humanoid robot WABIAN-RIV
AU - Carbone, Giuseppe
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
AU - Ceccarelli, Marco
PY - 2006/1
Y1 - 2006/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=27744461820&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=27744461820&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2005.05.001
DO - 10.1016/j.mechmachtheory.2005.05.001
M3 - Article
AN - SCOPUS:27744461820
VL - 41
SP - 17
EP - 40
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
IS - 1
ER -