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 |
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
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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