New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane

T. Otani, A. Iizuka, D. Takamoto, H. Motohashi, T. Kishi, P. Kryczka, N. Endo, L. Jamone, K. Hashimoto, T. Takashima, H. O. Lim, A. Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper describes the development of a new shank mechanism and mimicking the human-like walking in the horizontal and frontal plane. One of human walking characteristics is that the COM (Center Of Mass) motion in the lateral direction is as small as 30 mm. We assume that it is thanks to the human walking characteristics in the horizontal plane that the step width is as narrow as 90 mm and the foot rotation angle is 12 deg. To mimic these characteristics, we developed a new shank and implemented it in a humanoid robot WABIAN-2RIII. It has a parallel mechanism which mimics the shank's size of human. Thanks to its size almost the same as human's the robot is capable of realizing gait with the narrow step width of 90 mm and the foot rotation angle of 12 deg. We evaluated the performance of the shank using WABIAN-2RIII. The robot could realize stepping in place with lateral displacement of CoM within 34 mm, which is almost as small as that of human.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages667-672
Number of pages6
DOIs
Publication statusPublished - 2013 Nov 14
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Otani, T., Iizuka, A., Takamoto, D., Motohashi, H., Kishi, T., Kryczka, P., Endo, N., Jamone, L., Hashimoto, K., Takashima, T., Lim, H. O., & Takanishi, A. (2013). New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 667-672). [6630644] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630644