Stiffness performance estimation for biped locomotor WL-15

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

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

    11 Citations (Scopus)

    Abstract

    In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages956-961
    Number of pages6
    Volume2
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    CountryJapan
    CityKobe
    Period03/7/2003/7/24

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    Keywords

    • Algorithm design and analysis
    • Design engineering
    • Humanoid robots
    • Humans
    • Leg
    • Legged locomotion
    • Payloads
    • Prototypes
    • Testing
    • Wheels

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Carbone, G., Sugahara, Y., Lim, H. O., Takanishi, A., & Ceccarelli, M. (2003). Stiffness performance estimation for biped locomotor WL-15. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 956-961). [1225471] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225471