Stiffness experimental monitoring for wl-16rii biped locomotor during walking

G. Carbone, M. Ceccarelli, Y. Sugahara, H. O. Lim, A. Takanishi

研究成果: Chapter

1 被引用数 (Scopus)

抄録

In this paper, the importance of experimental evaluation of stiffness performance is pointed out for evaluating positioning errors and guaranteeing the effectiveness of a robotic walking system. Thus, a simple reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System). Experimental tests are carried out on a biped locomotor that is named as WL-16RJI (Waseda Leg No. 16 Refined II) in dynamic conditions. The experimental tests provide useful information for both design and control purposes.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
ページ105-112
ページ数8
DOI
出版ステータスPublished - 2006 1 1

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
487
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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