@inbook{93a7f9fa732e459ea403b297472f8601,
title = "Development of a new humanoid robot to realize various walking pattern using waist motions",
abstract = "A new humanoid robot capable of various motions is proposed in this paper, which has a 2-DOF pelvis 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 pelvis. 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.",
keywords = "Biped Robot, Humanoid Robot, Intelligent Robot, Walking Cycle, Zero Moment Point",
author = "Yu Ogura and Hiroyuki Aikawa and Kazushi Shimomura and Hideki Kondo and Akitoshi Morishima and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2006",
month = jan,
day = "1",
doi = "10.1007/3-211-38927-X_36",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "279--286",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}