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.
A part of this study has been carried out as part of the humanoid project at the Humanoid Robotics Institute, Waseda University, supported by the “The innovative research on symbiosis technologies for human and robots in the elderly dominated society”, 21st Century Center of Excellence Program, Japan Society for the Promotion of Science.
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Carbone, G., Ceccarelli, M., Sugahara, Y., Lim, H.O., Takanishi, A. (2006). Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking. In: Zielińska, T., Zieliński, C. (eds) Romansy 16. CISM Courses and Lectures, vol 487. Springer, Vienna. https://doi.org/10.1007/3-211-38927-X_15
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DOI: https://doi.org/10.1007/3-211-38927-X_15
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