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 | |
| 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 |
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Keywords
- Biped Robot
- Humanoid Robot
- Intelligent Robot
- Walking Cycle
- Zero Moment Point
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Modelling and Simulation
Cite this
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
}
TY - CHAP
T1 - Development of a new humanoid robot to realize various walking pattern using waist motions
AU - Ogura, Yu
AU - Aikawa, Hiroyuki
AU - Shimomura, Kazushi
AU - Kondo, Hideki
AU - Morishima, Akitoshi
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2006/1/1
Y1 - 2006/1/1
N2 - 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.
AB - 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.
KW - Biped Robot
KW - Humanoid Robot
KW - Intelligent Robot
KW - Walking Cycle
KW - Zero Moment Point
UR - http://www.scopus.com/inward/record.url?scp=78651478757&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651478757&partnerID=8YFLogxK
U2 - 10.1007/3-211-38927-X_36
DO - 10.1007/3-211-38927-X_36
M3 - Chapter
AN - SCOPUS:78651478757
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 279
EP - 286
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -