DocumentCode
2090055
Title
Development of a new humanoid robot WABIAN-2
Author
Ogura, Yusuke ; Aikawa, H. ; Shimomura, Kazuya ; Morishima, Atsuyuki ; Hun-Ok Lim ; Takanishi, A.
Author_Institution
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
fYear
2006
fDate
15-19 May 2006
Firstpage
76
Lastpage
81
Abstract
A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness
Keywords
handicapped aids; humanoid robots; legged locomotion; medical robotics; motion control; WABIAN-2; biped robot; forearm control; human motion simulator; humanoid robot; walk-assist machine; Humanoid robots; Humans; Instruments; Legged locomotion; Mechanical engineering; Medical robotics; Rehabilitation robotics; Robotics and automation; Service robots; Torque measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641164
Filename
1641164
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