Development of a humanoid robot capable of leaning on a walk-assist machine

Yu Ogura; Hiroyuki Aikawa; Kazushi Shimomura; Hideki Kondo; Akitoshi Morishima; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/BIOROB.2006.1639194

Development of a humanoid robot capable of leaning on a walk-assist machine

Yu Ogura^*, Hiroyuki Aikawa, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

26 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	835-840
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639194
Publication status	Published - 2006 Dec 22
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: 2006 Feb 20 → 2006 Feb 22

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Conference

Conference	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/Territory	Italy
City	Pisa
Period	06/2/20 → 06/2/22

Keywords

Biped robot
Humanoid robot
Robot design
Stretch walking
Various walking motions

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/BIOROB.2006.1639194

Cite this

Ogura, Y., Aikawa, H., Shimomura, K., Kondo, H., Morishima, A., Lim, H. O., & Takanishi, A. (2006). Development of a humanoid robot capable of leaning on a walk-assist machine. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 835-840). [1639194] (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639194

Development of a humanoid robot capable of leaning on a walk-assist machine. / Ogura, Yu; Aikawa, Hiroyuki; Shimomura, Kazushi et al.
Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 835-840 1639194 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogura, Y, Aikawa, H, Shimomura, K, Kondo, H, Morishima, A, Lim, HO & Takanishi, A 2006, Development of a humanoid robot capable of leaning on a walk-assist machine. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006., 1639194, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 835-840, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 06/2/20. https://doi.org/10.1109/BIOROB.2006.1639194

Ogura Y, Aikawa H, Shimomura K, Kondo H, Morishima A, Lim HO et al. Development of a humanoid robot capable of leaning on a walk-assist machine. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 835-840. 1639194. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). doi: 10.1109/BIOROB.2006.1639194

Ogura, Yu ; Aikawa, Hiroyuki ; Shimomura, Kazushi et al. / Development of a humanoid robot capable of leaning on a walk-assist machine. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 835-840 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

@inproceedings{5d7e9f6b3ddd4b52a07e66f18314f0ff,

title = "Development of a humanoid robot capable of leaning on a walk-assist machine",

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 = "Biped robot, Humanoid robot, Robot design, Stretch walking, Various walking motions",

author = "Yu Ogura and Hiroyuki Aikawa and Kazushi Shimomura and Hideki Kondo and Akitoshi Morishima and Lim, {Hun Ok} and Atsuo Takanishi",

year = "2006",

month = dec,

day = "22",

doi = "10.1109/BIOROB.2006.1639194",

language = "English",

isbn = "1424400406",

series = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

pages = "835--840",

booktitle = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

note = "1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 ; Conference date: 20-02-2006 Through 22-02-2006",

}

TY - GEN

T1 - Development of a humanoid robot capable of leaning on a walk-assist machine

AU - Ogura, Yu

AU - Aikawa, Hiroyuki

AU - Shimomura, Kazushi

AU - Kondo, Hideki

AU - Morishima, Akitoshi

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006/12/22

Y1 - 2006/12/22

N2 - 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.

AB - 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.

KW - Biped robot

KW - Humanoid robot

KW - Robot design

KW - Stretch walking

KW - Various walking motions

UR - http://www.scopus.com/inward/record.url?scp=33845597800&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845597800&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2006.1639194

DO - 10.1109/BIOROB.2006.1639194

M3 - Conference contribution

AN - SCOPUS:33845597800

SN - 1424400406

SN - 9781424400409

T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

SP - 835

EP - 840

BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

Y2 - 20 February 2006 through 22 February 2006

ER -

Development of a humanoid robot capable of leaning on a walk-assist machine

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this