Stiffness analysis of biped humanoid robot WABIAN-RIV

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

Research output: Contribution to journalArticle

20 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 languageEnglish
Pages (from-to)17-40
Number of pages24
JournalMechanism and Machine Theory
Volume41
Issue number1
DOIs
Publication statusPublished - 2006 Jan 1

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ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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