Stiffness analysis of the humanoid robot WABIAN-RIV: Modelling

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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    12 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.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3654-3659
    Number of pages6
    Volume3
    Publication statusPublished - 2003
    Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
    Duration: 2003 Sep 142003 Sep 19

    Other

    Other2003 IEEE International Conference on Robotics and Automation
    CountryTaiwan, Province of China
    CityTaipei
    Period03/9/1403/9/19

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Carbone, G., Lim, H. O., Takanishi, A., & Ceccarelli, M. (2003). Stiffness analysis of the humanoid robot WABIAN-RIV: Modelling. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3654-3659)