DocumentCode
3088698
Title
Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist
Author
Ogura, Yu. ; Aikawa, Hiroyuki ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
134
Abstract
Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.
Keywords
humanoid robots; legged locomotion; biped humanoid robot; human-like walking robot; knee stretch walking; Design engineering; Hip; Humanoid robots; Humans; Joints; Knee; Leg; Legged locomotion; Mechanical engineering; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307141
Filename
1307141
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