Stiffness performance estimation for biped locomotor WL-15

G. Carbone, Y. Sugahara, H. O. Lim, A. 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages956-961
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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