A study on joint compliance for a biped robot

A study on joint compliance for a biped robot

Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a meth...

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Hauptverfasser: Ki-Joo Lee, Hong Jae Yim, Siyoul Jang
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Automotive engineering
Computational modeling
Computer simulation
Damping
Humanoid robots
Kinematics
Legged locomotion
Nonlinear dynamical systems
Vehicle dynamics
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Beschreibung
Zusammenfassung:Dynamic simulations are often used to design mechanisms and to develop control algorithms for stable walking of the humanoid robot. For accurate dynamic simulations, the flexible compliances at the joints of the humanoid robot must be considered in the computer simulation model. In this paper a method to identify the proper compliances among the joints is presented. Dynamic simulations with the proposed method are compared with the test results
ISSN:2164-0572
DOI:10.1109/ICHR.2005.1573585