Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

Aiman Musa M. Orner; Yu Ogura; Hideki Kondo; Akitoshi Morishima; Giuseppe Carbone; Marco Ceccarelli; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ICHR.2005.1573589

Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

Aiman Musa M. Orner^*, Yu Ogura, Hideki Kondo, Akitoshi Morishima, Giuseppe Carbone, Marco Ceccarelli, 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

30 被引用数 (Scopus)

抄録

A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit 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 waist. 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.

本文言語	English
ホスト出版物のタイトル	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
ページ	333-338
ページ数	6
DOI	https://doi.org/10.1109/ICHR.2005.1573589
出版ステータス	Published - 2005 12月 1
イベント	2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba, Japan 継続期間: 2005 12月 5 → 2005 12月 7

出版物シリーズ

名前	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
巻	2005

Conference

Conference	2005 5th IEEE-RAS International Conference on Humanoid Robots
国/地域	Japan
City	Tsukuba
Period	05/12/5 → 05/12/7

ASJC Scopus subject areas

工学（全般）

文献へのアクセス

10.1109/ICHR.2005.1573589

他のファイルとリンク

引用スタイル

Orner, A. M. M., Ogura, Y., Kondo, H., Morishima, A., Carbone, G., Ceccarelli, M., Lim, H. O., & Takanishi, A. (2005). Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. In Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots (pp. 333-338). [1573589] (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots; Vol. 2005). https://doi.org/10.1109/ICHR.2005.1573589

Orner, AMM, Ogura, Y, Kondo, H, Morishima, A, Carbone, G, Ceccarelli, M, Lim, HO & Takanishi, A 2005, Development of a humanoid robot having 2-DQF waist and 2-DOF trunk. in Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots., 1573589, Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots, vol. 2005, pp. 333-338, 2005 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 05/12/5. https://doi.org/10.1109/ICHR.2005.1573589

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title = "Development of a humanoid robot having 2-DQF waist and 2-DOF trunk",

abstract = "A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit 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 waist. 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, Robot design, Stretch walking, Various walking motions",

author = "Orner, {Aiman Musa M.} and Yu Ogura and Hideki Kondo and Akitoshi Morishima and Giuseppe Carbone and Marco Ceccarelli and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Orner, Aiman Musa M.

AU - Ogura, Yu

AU - Kondo, Hideki

AU - Morishima, Akitoshi

AU - Carbone, Giuseppe

AU - Ceccarelli, Marco

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2005/12/1

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KW - Humanoid robot

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KW - Various walking motions

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BT - Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

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Development of a humanoid robot having 2-DQF waist and 2-DOF trunk

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出版物シリーズ

Conference

ASJC Scopus subject areas

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