Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation

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. Ho...

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Bibliographic Details
Main Authors: Omer, A.M.M., Ghorbani, R., Hun-ok Lim, Takanishi, A.
Format: Conference Proceeding
Language:eng ; jpn
Subjects:
Computational modeling
Computer simulation
Gears
Humanoid robots
Humans
Leg
Legged locomotion
Robot control
Springs
Torque control
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Summary: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.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2009.5229818