Development of walking support system based on dynamic simulation

Author

Omer, Aiman Musa M ; Kondo, Hideki ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

137

Lastpage

142

Abstract

The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device with different conditions such as activating its wheel motors. Conducting this experiment is expected to be highly risky and costly. Therefore, we had developed a dynamic simulator in order to test the performance of the robot using the walking support device before conducting it in real simulation.

Keywords

digital simulation; humanoid robots; legged locomotion; path planning; robot dynamics; WABIAN-2R humanoid bipedal robot; biped robot; dynamic simulation; human motion simulator; walking support system development; wheel motor; Humanoid robots; Humans; Instruments; Legged locomotion; Mechanical engineering; Mobile robots; Rehabilitation robotics; Service robots; Testing; Torque measurement; Biped robot; Dynamic Simulation; Humanoid Robot; Walking Support Device;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4912993

Filename

4912993