Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module

  • Authors:

  • Giuseppe Carbone;Yu Ogura;Hun-Ok Lim;Atsuo Takanishi;Marco Ceccarelli

  • Affiliations:

  • Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43-03043 Cassino (Fr) (Italy). E-mail:carbone@ing.unicas.it;Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169–8555 (Japan). E-mail: 601q023@mn.waseda.ac.jp;Kanagawa Institute of Technology, Department of System Design Engineering, Kanagawa. E-mail: holim@sd.kanagawa-it.ac.jp and Humanoid Robotics Institute, Waseda University, Shinjuku-ku, Tokyo 169&# ...;Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku. E-mail: takanisi@waseda.jp and Graduate School of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo 169̵ ...;Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43-03043 Cassino (Fr) (Italy). E-mail:ceccarelli@ing.unicas.it

  • Venue:
  • Robotica
  • Year:
  • 2004

Quantified Score

Hi-index 0.00

Visualization

Abstract

In this paper the mechanical design for a new 7-dofs leg is investigated as a walking module for a humanoid robot. In particular, a dynamic simulation is deduced by means of a Newton-Euler formulation and implemented numerically in order to compute the needed input actuator torques. A simulation is carried out for a similar built leg prototype that is used as a walking module for WABIAN-RIV (WAseda BIped humANoid robot-Revised IV). Experimental tests are carried out on this existing leg in order to validate the proposed formulation for a similar application. Thus, the validated formulation has been used in order to design the actuators for a new leg prototype.