@inbook{93a7f9fa732e459ea403b297472f8601,
title = "Development of a new humanoid robot to realize various walking pattern using waist motions",
abstract = "A new humanoid robot capable of various motions is proposed in this paper, which has a 2-DOF pelvis 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 pelvis. 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 = "Biped Robot, Humanoid Robot, Intelligent Robot, Walking Cycle, Zero Moment Point",
author = "Yu Ogura and Hiroyuki Aikawa and Kazushi Shimomura and Hideki Kondo and Akitoshi Morishima and Lim, {Hun Ok} and Atsuo Takanishi",
note = "Funding Information: Meanwhile, if these humanoid robots can use rehabilitation or welfare instruments like a walk-assist machine as shown Fig. l(a), if these humanoid robots can use rehabilitation or welfare instruments, as shown in Fig. l(b), they could help in testing such instruments quantitatively. Therefore, we--Waseda University research group--have proposed the use of a This research was supported in part by a Grant-in-Aid for the WABOT-HOUSE Project by the Gifu Prefecture, NEDO (the New Energy and Industrial Technology Development Organization) and the JSPS Research Fellowships for Young Scientists. The authors would also like to express our gratitude to SolidWorks Japan K.K. for their support. Publisher Copyright: {\textcopyright} 2006, CISM, Udine. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.",
year = "2006",
doi = "10.1007/3-211-38927-X_36",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "279--286",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}