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 引用 (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.

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

    出版物シリーズ

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

    Fingerprint

    Humanoid Robot
    Walk
    Robots
    Motion
    Experiment
    Experiments

    ASJC Scopus subject areas

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

    これを引用

    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. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 279-286). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 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; 巻 487).

    研究成果: Chapter

    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. : CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 巻. 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 その他. 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. 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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