Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

Yu Ogura, Hiroyuki Aikawa, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    60 Citations (Scopus)

    Abstract

    Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages134-139
    Number of pages6
    Volume2004
    Edition1
    Publication statusPublished - 2004
    EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
    Duration: 2004 Apr 262004 May 1

    Other

    OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
    CountryUnited States
    CityNew Orleans, LA
    Period04/4/2604/5/1

    Fingerprint

    Robots
    Experiments

    Keywords

    • Biped Humanoid Robot
    • New Leg Mechanism
    • Stretch Walking
    • Various Walking Motions

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Ogura, Y., Aikawa, H., Lim, H. O., & Takanishi, A. (2004). Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. In Proceedings - IEEE International Conference on Robotics and Automation (1 ed., Vol. 2004, pp. 134-139)

    Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. / Ogura, Yu; Aikawa, Hiroyuki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. p. 134-139.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ogura, Y, Aikawa, H, Lim, HO & Takanishi, A 2004, Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. in Proceedings - IEEE International Conference on Robotics and Automation. 1 edn, vol. 2004, pp. 134-139, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 04/4/26.
    Ogura Y, Aikawa H, Lim HO, Takanishi A. Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. In Proceedings - IEEE International Conference on Robotics and Automation. 1 ed. Vol. 2004. 2004. p. 134-139
    Ogura, Yu ; Aikawa, Hiroyuki ; Lim, Hun Ok ; Takanishi, Atsuo. / Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 1. ed. 2004. pp. 134-139
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