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
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba, Japan
Duration: 2005 Dec 52005 Dec 7

Publication series

NameProceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Volume2005

Conference

Conference2005 5th IEEE-RAS International Conference on Humanoid Robots
CountryJapan
CityTsukuba
Period05/12/505/12/7

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

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