In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) isanalyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in orderto deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIANarchitecture. The proposed formulation is useful for numerical estimation of stiffness performances. Anevaluation 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.
Stiffness Analysis of the Humanoid Robot WABIAN-RIV
G. CARBONE;
2006-01-01
Abstract
In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) isanalyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in orderto deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIANarchitecture. The proposed formulation is useful for numerical estimation of stiffness performances. Anevaluation 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.File in questo prodotto:
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