WABIAN and Other Waseda Robots

Kenji Hashimoto; Atsuo Takanishi

doi:10.1007/978-94-007-6046-2_19

WABIAN and Other Waseda Robots

Kenji Hashimoto^*, Atsuo Takanishi

^*Corresponding author for this work

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

Abstract

Waseda University has researched on biped robots since 1967. This chapter describes our biped humanoid robot WABIAN-2, which has 41 mechanical degrees of freedom consisting of two 6-DoF legs, a 2-DoF waist, a 2-DoF trunk, two 7-DoF arms, two 3-DoF hands, a 3-DoF neck, and two 1-DoF feet having passive toe joint. Its height is 1480 mm and its total weight is 64 kg. WABIAN-2 has realized a human-like walk with the knees stretched, heel-contact, and toe-off motion by utilizing a foot mechanism having a passive toe joint and a 2-DoF (Roll, Yaw) waist mimicking a human’s pelvis motion. We have proposed to use a biped humanoid robot, WABIAN-2 as a human motion simulator which can evaluate rehabilitation/welfare instruments quantitatively instead of human beings. In this chapter, we will explain the details of WABIAN-2 and introduce an application of WABIAN-2 to evaluate a walk-assist machine and an attempt to clarify the function of the foot arch structure.

Original language	English
Title of host publication	Humanoid Robotics
Subtitle of host publication	A Reference
Publisher	Springer Netherlands
Pages	265-289
Number of pages	25
ISBN (Electronic)	9789400760462
ISBN (Print)	9789400760455
DOIs	https://doi.org/10.1007/978-94-007-6046-2_19
Publication status	Published - 2018 Jan 1

Keywords

Biped Robot
Human-like Foot
Medial Longitudinal Arch
Waist Motion
WAseda roBOT

ASJC Scopus subject areas

Engineering(all)
Computer Science(all)

Access to Document

10.1007/978-94-007-6046-2_19

Cite this

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abstract = "Waseda University has researched on biped robots since 1967. This chapter describes our biped humanoid robot WABIAN-2, which has 41 mechanical degrees of freedom consisting of two 6-DoF legs, a 2-DoF waist, a 2-DoF trunk, two 7-DoF arms, two 3-DoF hands, a 3-DoF neck, and two 1-DoF feet having passive toe joint. Its height is 1480 mm and its total weight is 64 kg. WABIAN-2 has realized a human-like walk with the knees stretched, heel-contact, and toe-off motion by utilizing a foot mechanism having a passive toe joint and a 2-DoF (Roll, Yaw) waist mimicking a human{\textquoteright}s pelvis motion. We have proposed to use a biped humanoid robot, WABIAN-2 as a human motion simulator which can evaluate rehabilitation/welfare instruments quantitatively instead of human beings. In this chapter, we will explain the details of WABIAN-2 and introduce an application of WABIAN-2 to evaluate a walk-assist machine and an attempt to clarify the function of the foot arch structure.",

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N2 - Waseda University has researched on biped robots since 1967. This chapter describes our biped humanoid robot WABIAN-2, which has 41 mechanical degrees of freedom consisting of two 6-DoF legs, a 2-DoF waist, a 2-DoF trunk, two 7-DoF arms, two 3-DoF hands, a 3-DoF neck, and two 1-DoF feet having passive toe joint. Its height is 1480 mm and its total weight is 64 kg. WABIAN-2 has realized a human-like walk with the knees stretched, heel-contact, and toe-off motion by utilizing a foot mechanism having a passive toe joint and a 2-DoF (Roll, Yaw) waist mimicking a human’s pelvis motion. We have proposed to use a biped humanoid robot, WABIAN-2 as a human motion simulator which can evaluate rehabilitation/welfare instruments quantitatively instead of human beings. In this chapter, we will explain the details of WABIAN-2 and introduce an application of WABIAN-2 to evaluate a walk-assist machine and an attempt to clarify the function of the foot arch structure.

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WABIAN and Other Waseda Robots

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Keywords

ASJC Scopus subject areas

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