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Romansy 16 pp 105-112 | Cite as

Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking

  • Carbone G. 
  • Ceccarelli M. 
  • Sugahara Y. 
  • Lim H. O. 
  • Takanishi A. 
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

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.

Keywords

Stiffness Matrix Parallel Manipulator Walking Pattern Biped Locomotor Singular Configuration 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Carbone G. 
    • 1
  • Ceccarelli M. 
    • 1
  • Sugahara Y. 
    • 2
  • Lim H. O. 
    • 3
    • 4
  • Takanishi A. 
    • 2
    • 4
  1. 1.LARM: Laboratory of Robotics and MechatronicsUniversity of CassinoCassinoItaly
  2. 2.Graduate School of Science and EngineeringWaseda UniversityTokyoJapan
  3. 3.Department of Mechanical EngineeringKanagawa UniversityYokohamaJapan
  4. 4.Humanoid Robotics InstituteWaseda UniversityTokyoJapan

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