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walking module

Robotica (1)

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Dynamic simulation and experiments for the design of a new 7-dofs biped walking leg module
Giuseppe Carbone, Yu Ogura, Hun-ok Lim, Atsuo Takanishi, Marco Ceccarelli
Journal:

Robotica / Volume 22 / Issue 1 / January 2004

Published online by Cambridge University Press:

05 January 2004, pp. 41-50
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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.