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

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 ap...

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Veröffentlicht in:	Journal of robotics and mechatronics 2007-06, Vol.19 (3), p.272-280
Hauptverfasser:	Sugahara, Yusuke, Carbone, Giuseppe, Hashimoto, Kenji, Ceccarelli, Marco, Lim, Hun-Ok, Takanishi, Atsuo
Format:	Artikel
Sprache:	eng
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	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.
ISSN:	0915-3942 1883-8049
DOI:	10.20965/jrm.2007.p0272