Simulation of semi-passive dynamic walking for biped walking 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

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. 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2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
出版社IEEE Computer Society
ページ360-364
ページ数5
ISBN(印刷版)9781424426799
DOI
出版ステータスPublished - 2009 1 1
イベント2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
継続期間: 2009 2 212009 2 26

出版物シリーズ

名前2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Conference

Conference2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period09/2/2109/2/26

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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