• DocumentCode
    2989716
  • 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
  • fYear
    2005
  • fDate
    5-5 Dec. 2005
  • Firstpage
    333
  • Lastpage
    338
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Humanoid Robots, 2005 5th IEEE-RAS International Conference on
  • Conference_Location
    Tsukuba
  • Print_ISBN
    0-7803-9320-1
  • Type

    conf

  • DOI
    10.1109/ICHR.2005.1573589
  • Filename
    1573589
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2989716