Simulation of semi-passive dynamic walking for humanoid robots

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

研究成果: Conference contribution

3 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 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 to 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 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
ページ541-544
ページ数4
DOI
出版ステータスPublished - 2008 12 1
イベント2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 - Daejeon, Korea, Republic of
継続期間: 2008 12 12008 12 3

出版物シリーズ

名前2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Conference

Conference2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
国/地域Korea, Republic of
CityDaejeon
Period08/12/108/12/3

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
  • 人間とコンピュータの相互作用

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