Stiffness analysis of biped humanoid robot WABIAN-RIV

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

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


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
Issue number1
Publication statusPublished - 2006 Jan

ASJC Scopus subject areas

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


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