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

Published online by Cambridge University Press:  05 January 2004

Giuseppe Carbone,
Yu Ogura,
Hun-ok Lim,
Atsuo Takanishi and
Marco Ceccarelli
Giuseppe Carbone
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43-03043 Cassino (Fr) (Italy). E-mail:carbone@ing.unicas.it
Yu Ogura
Affiliation:
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
Hun-ok Lim
Affiliation:
Kanagawa Institute of Technology, Department of System Design Engineering, 1030 Shimoogino, Atugi, Kanagawa 243-0292 (Japan). E-mail: holim@sd.kanagawa-it.ac.jpHumanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169–8555 (Japan). E-mail: takanisi@waseda.jp
Atsuo Takanishi
Affiliation:
Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169–8555 (Japan). E-mail: 601q023@mn.waseda.ac.jpHumanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169–8555 (Japan). E-mail: takanisi@waseda.jp
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43-03043 Cassino (Fr) (Italy). E-mail:ceccarelli@ing.unicas.it
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Abstract

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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.

Keywords

Walking moduleDynamic simulationHumanoid robot

Information

Type
Research Article
Information
Robotica , Volume 22 , Issue 1 , January 2004, pp. 41 - 50
Copyright
© 2004 Cambridge University Press