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

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    Stiffness
    Robots
    Stiffness matrix

    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 journalArticle

    Carbone, Giuseppe ; Lim, Hun Ok ; Takanishi, Atsuo ; Ceccarelli, Marco. / Stiffness analysis of biped humanoid robot WABIAN-RIV. In: Mechanism and Machine Theory. 2006 ; Vol. 41, No. 1. pp. 17-40.
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