Semi-passive dynamic walking for humanoid robot using controllable spring stiffness on the ankle joint

Aiman Musa M. Omer, Reza Ghorbani, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. The spring stiffness could be controlled by twisting the joint to set the required torque. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.

本文言語English
ホスト出版物のタイトルICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
ページ681-685
ページ数5
DOI
出版ステータスPublished - 2009 6 5
イベント4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington, New Zealand
継続期間: 2009 2 102009 2 12

出版物シリーズ

名前ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents

Conference

Conference4th International Conference on Autonomous Robots and Agents, ICARA 2009
国/地域New Zealand
CityWellington
Period09/2/1009/2/12

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ソフトウェア

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