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

    Research output: Chapter in Book/Report/Conference proceedingChapter

    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 languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages279-286
    Number of pages8
    DOIs
    Publication statusPublished - 2006 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume487
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Fingerprint

    Humanoid Robot
    Walk
    Robots
    Motion
    Experiment
    Experiments

    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

    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 proceedingChapter

    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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