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 Jan 1

Publication series

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

Fingerprint

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

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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Access to Document

10.1007/3-211-38927-X_36