Stiffness experimental monitoring for wl-16rii biped locomotor during walking

G. Carbone, M. Ceccarelli, Y. Sugahara, H. O. Lim, A. Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

In this paper, the importance of experimental evaluation of stiffness performance is pointed out for evaluating positioning errors and guaranteeing the effectiveness of a robotic walking system. Thus, a simple reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System). Experimental tests are carried out on a biped locomotor that is named as WL-16RJI (Waseda Leg No. 16 Refined II) in dynamic conditions. The experimental tests provide useful information for both design and control purposes.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages105-112
Number of pages8
DOIs
Publication statusPublished - 2006 Jan 1

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume487
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Biped Locomotor
  • Parallel Manipulator
  • Singular Configuration
  • Stiffness Matrix
  • Walking Pattern

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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