Abstract
A new humanoid robot capable of various motions is proposed in this paper, which has a 2-DOF pelvis 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 pelvis. 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.
This research was supported in part by a Grant-in-Aid for the WABOT-HOUSE Project by the Gifu Prefecture, NEDO (the New Energy and Industrial Technology Development Organization) and the JSPS Research Fellowships for Young Scientists. The authors would also like to express our gratitude to SolidWorks Japan K.K. for their support.
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© 2006 CISM, Udine
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Ogura, Y. et al. (2006). Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions. In: Zielińska, T., Zieliński, C. (eds) Romansy 16. CISM Courses and Lectures, vol 487. Springer, Vienna. https://doi.org/10.1007/3-211-38927-X_36
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DOI: https://doi.org/10.1007/3-211-38927-X_36
Publisher Name: Springer, Vienna
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