TY - GEN
T1 - Simulation of semi-passive dynamic walking for biped walking robot
AU - Omer, Aiman Musa M.
AU - Ghorbani, Reza
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2009/1/1
Y1 - 2009/1/1
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. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.
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. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. This helps reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.
KW - Humanoid robot
KW - Passive dynamic walking
KW - Semi-passive walking
UR - http://www.scopus.com/inward/record.url?scp=70349163622&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349163622&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.4913030
DO - 10.1109/ROBIO.2009.4913030
M3 - Conference contribution
AN - SCOPUS:70349163622
SN - 9781424426799
T3 - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
SP - 360
EP - 364
BT - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
PB - IEEE Computer Society
T2 - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Y2 - 21 February 2009 through 26 February 2009
ER -