Stiffness analysis of biped humanoid robot WABIAN-RIV
作者： Giuseppe Carbone , Hun-ok Lim , Atsuo Takanishi , Marco Ceccarelli
DOI: 10.1016/J.MECHMACHTHEORY.2005.05.001
关键词:
摘要: In this paper, a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and formulation order to deduce the matrix function most important parameters WABIAN architecture. The proposed useful for numerical estimation performances. An evaluation performances carried out by numerically implementing formulation. experimental validation results also on robot.
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