@inbook{cfa00ac3b4be4f0f9504ca78cfa26127,
title = "Stiffness experimental monitoring for wl-16rii biped locomotor during walking",
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.",
keywords = "Biped Locomotor, Parallel Manipulator, Singular Configuration, Stiffness Matrix, Walking Pattern",
author = "G. Carbone and M. Ceccarelli and Y. Sugahara and Lim, {H. O.} and A. Takanishi",
note = "Funding Information: 1 A part of this study has been carried out as part of the humanoid project at the Humanoid Robotics Institute, Waseda University, supported by the {"}The innovative research on symbiosis technologies for human and robots in the elderly dominated society{"}, 21st Century Center of Excellence Program, Japan Society for the Promotion of Science.",
year = "2006",
doi = "10.1007/3-211-38927-X_15",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "105--112",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}