Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation

Abstract

This paper describes an experimental method for eval-uating the stiffness of a biped walking robot. A reliable procedure is proposed as based on a simplified ver-sion of Milli-CaTraSys (Milli Cassino Tracking Sys-tem) with three wire encoders and two six-axis force-torque sensors. This measures both applied wrench and resulting compliant displacements. Experiments conducted on a prototype of the biped walking vehicle WL-16RII (Waseda Leg-No. 16 Refined II) under different dynamic conditions provided useful informa-tion for both design and control.