Title :
Development of a new humanoid robot WABIAN-2
Author :
Ogura, Yusuke ; Aikawa, H. ; Shimomura, Kazuya ; Morishima, Atsuyuki ; Hun-Ok Lim ; Takanishi, A.
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
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
Keywords :
handicapped aids; humanoid robots; legged locomotion; medical robotics; motion control; WABIAN-2; biped robot; forearm control; human motion simulator; humanoid robot; walk-assist machine; Humanoid robots; Humans; Instruments; Legged locomotion; Mechanical engineering; Medical robotics; Rehabilitation robotics; Robotics and automation; Service robots; Torque measurement;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641164
