TY - GEN
T1 - Development of a new humanoid robot WABIAN-2
AU - Ogura, Yu
AU - Aikawa, Hiroyuki
AU - Shimomura, Kazushi
AU - Kondo, Hideki
AU - Morishima, Akitoshi
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2006/12/27
Y1 - 2006/12/27
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 walkassist 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 walkassist 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=33845651638&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845651638&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641164
DO - 10.1109/ROBOT.2006.1641164
M3 - Conference contribution
AN - SCOPUS:33845651638
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 76
EP - 81
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -