Dynamic-Based Simulation for Humanoid Robot Walking Using Walking Support System

  • Aiman Musa M. Omer
  • Yu Ogura
  • Hideki Kondo
  • Hun-ok Lim
  • Atsuo Takanishi
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 37)


A new humanoid bipedal robot WABIAN-2R was developed to simulate human motion. WABAIN-2R is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a passive walk-assist machine. However, walking with an active walk-assist machine is expected to be unstable. Conducting this experiment is highly risky and costly. Therefore, we had developed a dynamic simulator in order to test walking robot with walk-assist machine before conducting it in real simulation.


Dynamic simulation Humanoid robot Biped robot Walking assist machine 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Aiman Musa M. Omer
    • 1
  • Yu Ogura
    • 1
  • Hideki Kondo
    • 1
  • Hun-ok Lim
    • 2
  • Atsuo Takanishi
    • 3
  1. 1.Graduate School of Science and EngineeringWaseda UniversityTokyoJapan
  2. 2.Department of Mechanical EngineeringKanagawa UniversityYokohamaJapan
  3. 3.Department of Mechanical Engineering / Humanoid Robotics InstituteWaseda UniversityTokyoJapan

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