Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking
In this paper, the importance of experimental evaluation of stiffness performance is pointed out for evaluating positioning errors and guaranteeing the effectiveness of a robotic walking system. Thus, a simple reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System). Experimental tests are carried out on a biped locomotor that is named as WL-16RJI (Waseda Leg No. 16 Refined II) in dynamic conditions. The experimental tests provide useful information for both design and control purposes.
KeywordsStiffness Matrix Parallel Manipulator Walking Pattern Biped Locomotor Singular Configuration
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