Simulation based study of a semi-passive dynamic walking for a human size humanoid robot

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This study investigates the effects of semi-passive dynamics bipedal walking on humanoid robots using a simulation approach. WABIAN-2R is a human size robot developed to be used as human motion simulator. It has 39 degrees of freedom of rigid joints and is selected for this study. The actuator of the ankle joint and its harmonic drive is replaced with an elastic joint. This configuration creates a semi-passive bipedal walker, since the rest of the joints are actively controlled to track a desired gait pattern. The passive movement of the elastic ankle joint stores part of the energy of the robot during the collision phase into an elastic form and returns that energy during the rebound phase. The robot can successfully finish a limited number of walking steps.

本文言語English
ホスト出版物のタイトルMobile Robotics
ホスト出版物のサブタイトルSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
ページ653-660
ページ数8
出版ステータスPublished - 2010 12 1
イベント12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul, Turkey
継続期間: 2009 9 92009 9 11

出版物シリーズ

名前Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
国/地域Turkey
CityIstanbul
Period09/9/909/9/11

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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