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

研究成果: Chapter

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
ページ279-286
ページ数8
DOI
出版ステータスPublished - 2006 1 1

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
487
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

フィンガープリント 「Development of a new humanoid robot to realize various walking pattern using waist motions」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル