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Romansy 16 pp 279-286 | Cite as

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
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

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.

Keywords

Humanoid Robot Intelligent Robot Biped Robot Zero Moment Point Walking Cycle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Yu Ogura
    • 1
  • Hiroyuki Aikawa
    • 1
  • Kazushi Shimomura
    • 1
  • Hideki Kondo
    • 1
  • Akitoshi Morishima
    • 1
  • Hun-ok Lim
    • 2
    • 3
  • Atsuo Takanishi
    • 1
    • 3
  1. 1.Graduate School of Science and EngineeringWaseda UniversityJapan
  2. 2.Department of Mechanical EngineeringKanagawa UniversityJapan
  3. 3.Humanoid Robotics InstituteWaseda UniversityJapan

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