@inproceedings{9598e0bc0e6a46438262798a3be16d5f,
title = "Stiffness performance estimation for biped locomotor WL-15",
abstract = "In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation.",
keywords = "Algorithm design and analysis, Design engineering, Humanoid robots, Humans, Leg, Legged locomotion, Payloads, Prototypes, Testing, Wheels",
author = "G. Carbone and Y. Sugahara and Lim, {H. O.} and A. Takanishi and M. Ceccarelli",
year = "2003",
month = jan,
day = "1",
doi = "10.1109/AIM.2003.1225471",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "956--961",
booktitle = "Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003",
note = "2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 ; Conference date: 20-07-2003 Through 24-07-2003",
}