Development of a new humanoid robot to realize various walking pattern using waist motions

Yu Ogura; Hiroyuki Aikawa; Kazushi Shimomura; Hideki Kondo; Akitoshi Morishima; Hun Ok Lim; Atsuo Takanishi

doi:10.1007/3-211-38927-X_36

Development of a new humanoid robot to realize various walking pattern using waist motions

Yu Ogura, Hiroyuki Aikawa, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Hun Ok Lim, Atsuo Takanishi

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

3 Citations (Scopus)

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.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	279-286
Number of pages	8
DOIs	https://doi.org/10.1007/3-211-38927-X_36
Publication status	Published - 2006

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	487
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Biped Robot
Humanoid Robot
Intelligent Robot
Walking Cycle
Zero Moment Point

ASJC Scopus subject areas

Modelling and Simulation
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

Access to Document

10.1007/3-211-38927-X_36

Cite this

Ogura, Y., Aikawa, H., Shimomura, K., Kondo, H., Morishima, A., Lim, H. O., & Takanishi, A. (2006). Development of a new humanoid robot to realize various walking pattern using waist motions. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 279-286). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487). Springer International Publishing. https://doi.org/10.1007/3-211-38927-X_36

Development of a new humanoid robot to realize various walking pattern using waist motions. / Ogura, Yu; Aikawa, Hiroyuki; Shimomura, Kazushi; Kondo, Hideki; Morishima, Akitoshi; Lim, Hun Ok; Takanishi, Atsuo.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2006. p. 279-286 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Ogura, Y, Aikawa, H, Shimomura, K, Kondo, H, Morishima, A, Lim, HO & Takanishi, A 2006, Development of a new humanoid robot to realize various walking pattern using waist motions. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 487, Springer International Publishing, pp. 279-286. https://doi.org/10.1007/3-211-38927-X_36

Ogura Y, Aikawa H, Shimomura K, Kondo H, Morishima A, Lim HO et al. Development of a new humanoid robot to realize various walking pattern using waist motions. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2006. p. 279-286. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/3-211-38927-X_36

Ogura, Yu ; Aikawa, Hiroyuki ; Shimomura, Kazushi ; Kondo, Hideki ; Morishima, Akitoshi ; Lim, Hun Ok ; Takanishi, Atsuo. / Development of a new humanoid robot to realize various walking pattern using waist motions. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2006. pp. 279-286 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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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",

note = "Funding Information: Meanwhile, if these humanoid robots can use rehabilitation or welfare instruments like a walk-assist machine as shown Fig. l(a), if these humanoid robots can use rehabilitation or welfare instruments, as shown in Fig. l(b), they could help in testing such instruments quantitatively. Therefore, we--Waseda University research group--have proposed the use of a This research was supported in part by a Grant-in-Aid for the WABOT-HOUSE Project by the Gifu Prefecture, NEDO (the New Energy and Industrial Technology Development Organization) and the JSPS Research Fellowships for Young Scientists. The authors would also like to express our gratitude to SolidWorks Japan K.K. for their support. Publisher Copyright: {\textcopyright} 2006, CISM, Udine. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.",

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Development of a new humanoid robot to realize various walking pattern using waist motions

Abstract

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Keywords

ASJC Scopus subject areas

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