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

    Fingerprint

    Stiffness
    Robots
    Stiffness matrix

    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)

    Stiffness analysis of the humanoid robot WABIAN-RIV : Modelling. / Carbone, Giuseppe; Lim, Hun Ok; Takanishi, Atsuo; Ceccarelli, Marco.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. p. 3654-3659.

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

    Carbone, G, Lim, HO, 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, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 03/9/14.
    Carbone G, Lim HO, Takanishi A, Ceccarelli M. Stiffness analysis of the humanoid robot WABIAN-RIV: Modelling. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2003. p. 3654-3659
    Carbone, Giuseppe ; Lim, Hun Ok ; Takanishi, Atsuo ; Ceccarelli, Marco. / Stiffness analysis of the humanoid robot WABIAN-RIV : Modelling. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. pp. 3654-3659
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