Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions
作者： Yu Ogura , Hiroyuki Aikawa , Kazushi Shimomura , Hideki Kondo , Akitoshi Morishima
关键词: Humanoid robot 、 Zero moment point 、 Computer vision 、 Intelligent robots 、 Waist 、 Mechanism (engineering) 、 Trunk 、 Development (differential geometry) 、 Artificial intelligence 、 Upper body 、 Computer science
摘要: A new humanoid robot capable of various motions is proposed in this paper, which has a 2-DOF pelvis and trunk. upper body mechanism mounted on leg machine, WABIAN2/LL, full scale robot, WABIAN-2, constructed study. Its trunk designed to bend forwards, backwards sideways rotate combination with pelvis. Also, the way that makes it able use walk-assist machine. Basic walking experiments without machine are conducted, effectiveness WABIAN-2 confirmed.
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