Title :
Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist
Author :
Ogura, Yu. ; Aikawa, Hiroyuki ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
fDate :
26 April-1 May 2004
Abstract :
Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.
Keywords :
humanoid robots; legged locomotion; biped humanoid robot; human-like walking robot; knee stretch walking; Design engineering; Hip; Humanoid robots; Humans; Joints; Knee; Leg; Legged locomotion; Mechanical engineering; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307141
