| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 802760 | Mechanism and Machine Theory | 2006 | 24 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Giuseppe Carbone, Hun-ok Lim, Atsuo Takanishi, Marco Ceccarelli,