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

^*この研究の対応する著者

創造理工学部

研究成果: Conference contribution

26 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ページ	835-840
ページ数	6
DOI	https://doi.org/10.1109/BIOROB.2006.1639194
出版ステータス	Published - 2006 12月 22
イベント	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy 継続期間: 2006 2月 20 → 2006 2月 22

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

工学（全般）

文献へのアクセス

10.1109/BIOROB.2006.1639194

他のファイルとリンク

引用スタイル

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 その他.
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).

研究成果: 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 その他. 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 その他. / 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).

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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.",

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AU - Kondo, Hideki

AU - Morishima, Akitoshi

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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

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