TY - GEN
T1 - Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation
AU - Omer, Aiman Musa M.
AU - Ghorbani, Reza
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2009
Y1 - 2009
N2 - 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 of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. However, using a spring mechanism instead of high gear ratio transmission could decrease the energy used during walking motion. Therefore, the idea of installing the dynamic walking techniques to WABIAN-2R is proposed. Using computer simulation the design of the ankle joint is modified by adding a spring mechanism and controlled by twisting the joint to set the required torque. Based of dynamic simulation an important step toward developing the passive dynamics walking into the advanced complex humanoid robots is been purposed.
AB - 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 of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. However, using a spring mechanism instead of high gear ratio transmission could decrease the energy used during walking motion. Therefore, the idea of installing the dynamic walking techniques to WABIAN-2R is proposed. Using computer simulation the design of the ankle joint is modified by adding a spring mechanism and controlled by twisting the joint to set the required torque. Based of dynamic simulation an important step toward developing the passive dynamics walking into the advanced complex humanoid robots is been purposed.
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U2 - 10.1109/AIM.2009.5229818
DO - 10.1109/AIM.2009.5229818
M3 - Conference contribution
AN - SCOPUS:70350464927
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1600
EP - 1605
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -