Title :
Development of a humanoid robot having 2-DOF waist and 2-DOF trunk
Author :
Omer, Aiman Musa M ; Ogura, Yu. ; Kondo, Hideki ; Morishima, Akitoshi ; Carbone, Giuseppe ; Ceccarelli, Marco ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
Abstract :
A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist 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 waist. 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 robots; legged locomotion; motion control; robot dynamics; WABIAN-2; humanoid robot; robot design; walk-assist machine; walking motions; Humanoid robots; Humans; Instruments; Laboratories; Leg; Legged locomotion; Mechanical engineering; Medical treatment; Service robots; Torque measurement;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573589
