Development of a new humanoid robot WABIAN-2

被引：0

作者：

Ogura, Yu ^{[1
]}

Aikawa, Hiroyuki ^{[1
]}

Shimomura, Kazushi ^{[1
]}

Kondo, Hideki ^{[1
]}

Morishima, Akitoshi ^{[1
]}

Lim, Hun-ok ^{[2
]}

Takanishi, Atsuo ^{[3
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

[2] Kanagawa Univ, Dept Mech Engn, Yokohama, Kanagawa, Japan

[3] Waseda Univ, Humanoid Robot Inst, Dept Mech Engn, Tokyo 160, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

robot design; humanoid robot; biped robot; various walking motions; stretch walking;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 WABLAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness.

引用

页码：76 / +

页数：2

共 13 条

[1]

Fujiwara K., 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), P1920

[2]

Kaneko K, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P2431, DOI 10.1109/IRDS.2002.1041632

[3]

Kim JY, 2005, IEEE INT CONF ROBOT, P1431

[4]

KLOPSTEG PE, 1963, HUMAN LIMBS THEIR SU

[5]

Lim H, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P3111, DOI 10.1109/ROBOT.2002.1013705

[6]

LIM H, 1999, P INT S HUM ROB TOK, P36

[7]

Löffler K, 2003, IEEE INT CONF ROBOT, P484

[8]

NAKAMURA R, 1992, KISO UNDOUGAKU FUNDA, P430

[9]

Nishiwaki K, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P2684, DOI 10.1109/IRDS.2002.1041675

[10]

Nishiwaki K, 2000, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, P1559, DOI 10.1109/IROS.2000.895195

← 1 2 →