Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation | Zendy

Yusuke Sugahara | Zendy; Giuseppe Carbone | Zendy; Kenji Hashimoto | Zendy; Marco Ceccarelli | Zendy; Hunok Lim | Zendy; Atsuo Takanishi | Zendy

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Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation

Author(s) -

Yusuke Sugahara,

Giuseppe Carbone,

Kenji Hashimoto,

Marco Ceccarelli,

Hunok Lim,

Atsuo Takanishi

Publication year - 2007

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2007.p0272

Subject(s) - wrench , torque , stiffness , biped robot , computer science , encoder , control theory (sociology) , robot , simulation , engineering , structural engineering , control (management) , physics , artificial intelligence , thermodynamics , operating system

This paper describes an experimental method for evaluating the stiffness of a biped walking robot. A reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System) with three wire encoders and two six-axis force-torque sensors. This measures both applied wrench and resulting compliant displacements. Experiments conducted on a prototype of the biped walking vehicle WL-16RII (Waseda Leg - No. 16 Refined II) under different dynamic conditions provided useful information for both design and control.

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