Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

Aiman Musa M Orner, Yu Ogura, Hideki Kondo, Akitoshi Morishima, Giuseppe Carbone, Marco Ceccarelli, Hun Ok Lim, Atsuo Takanishi

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

    22 Citations (Scopus)

    Abstract

    A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed.

    Original languageEnglish
    Title of host publicationProceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
    Pages333-338
    Number of pages6
    Volume2005
    DOIs
    Publication statusPublished - 2005
    Event2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba
    Duration: 2005 Dec 52005 Dec 7

    Other

    Other2005 5th IEEE-RAS International Conference on Humanoid Robots
    CityTsukuba
    Period05/12/505/12/7

    Fingerprint

    Robots
    Experiments

    Keywords

    • Biped robot
    • Humanoid robot
    • Robot design
    • Stretch walking
    • Various walking motions

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Orner, A. M. M., Ogura, Y., Kondo, H., Morishima, A., Carbone, G., Ceccarelli, M., ... Takanishi, A. (2005). Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. In Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots (Vol. 2005, pp. 333-338). [1573589] https://doi.org/10.1109/ICHR.2005.1573589

    Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. / Orner, Aiman Musa M; Ogura, Yu; Kondo, Hideki; Morishima, Akitoshi; Carbone, Giuseppe; Ceccarelli, Marco; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. Vol. 2005 2005. p. 333-338 1573589.

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

    Orner, AMM, Ogura, Y, Kondo, H, Morishima, A, Carbone, G, Ceccarelli, M, Lim, HO & Takanishi, A 2005, Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. in Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. vol. 2005, 1573589, pp. 333-338, 2005 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, 05/12/5. https://doi.org/10.1109/ICHR.2005.1573589
    Orner AMM, Ogura Y, Kondo H, Morishima A, Carbone G, Ceccarelli M et al. Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. In Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. Vol. 2005. 2005. p. 333-338. 1573589 https://doi.org/10.1109/ICHR.2005.1573589
    Orner, Aiman Musa M ; Ogura, Yu ; Kondo, Hideki ; Morishima, Akitoshi ; Carbone, Giuseppe ; Ceccarelli, Marco ; Lim, Hun Ok ; Takanishi, Atsuo. / Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. Vol. 2005 2005. pp. 333-338
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