In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances. An evaluation of stiffness performances is carried out by numerically implementing the proposed formulation. An experimental validation of the numerical results is also carried out on WABIAN-RIV humanoid robot.
|ジャーナル||Mechanism and Machine Theory|
|出版物ステータス||Published - 2006 1 1|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications