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

G. Carbone, M. Ceccarelli, Y. Sugahara, H. O. Lim, Atsuo 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

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    Keywords

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

    ASJC Scopus subject areas

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

    Cite this

    Carbone, G., Ceccarelli, M., Sugahara, Y., Lim, H. O., & Takanishi, A. (2006). Stiffness experimental monitoring for wl-16rii biped locomotor during walking. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 105-112). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487). Springer International Publishing. https://doi.org/10.1007/3-211-38927-X_15