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

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
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container_end_page 280
container_issue 3
container_start_page 272
container_title Journal of robotics and mechatronics
container_volume 19
creator Sugahara, Yusuke
Carbone, Giuseppe
Hashimoto, Kenji
Ceccarelli, Marco
Lim, Hun-Ok
Takanishi, Atsuo
description 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.
doi_str_mv 10.20965/jrm.2007.p0272
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title Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation
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