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

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

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

    4 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 publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages667-672
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe
    Duration: 2013 May 62013 May 10

    Other

    Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    CityKarlsruhe
    Period13/5/613/5/10

    Fingerprint

    Robots

    ASJC Scopus subject areas

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

    Cite this

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

    New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane. / Otani, Takuya; Iizuka, A.; Takamoto, D.; Motohashi, H.; Kishi, Tomoji; Kryczka, P.; Endo, N.; Jamone, L.; Hashimoto, K.; Takashima, T.; Lim, H. O.; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 667-672 6630644.

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

    Otani, T, Iizuka, A, Takamoto, D, Motohashi, H, Kishi, T, Kryczka, P, Endo, N, Jamone, L, Hashimoto, K, Takashima, T, Lim, HO & Takanishi, A 2013, New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane. in Proceedings - IEEE International Conference on Robotics and Automation., 6630644, pp. 667-672, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, 13/5/6. https://doi.org/10.1109/ICRA.2013.6630644
    Otani T, Iizuka A, Takamoto D, Motohashi H, Kishi T, Kryczka P et al. New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane. In Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 667-672. 6630644 https://doi.org/10.1109/ICRA.2013.6630644
    Otani, Takuya ; Iizuka, A. ; Takamoto, D. ; Motohashi, H. ; Kishi, Tomoji ; Kryczka, P. ; Endo, N. ; Jamone, L. ; Hashimoto, K. ; Takashima, T. ; Lim, H. O. ; Takanishi, Atsuo. / New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane. Proceedings - IEEE International Conference on Robotics and Automation. 2013. pp. 667-672
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    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.",
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    AU - Kishi, Tomoji

    AU - Kryczka, P.

    AU - Endo, N.

    AU - Jamone, L.

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