Development of a humanoid robot having 2-DOF waist and 2-DOF trunk

A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit 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 waist. 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.



Titolo: Development of a humanoid robot having 2-DOF waist and 2-DOF trunk
Autori: 
CARBONE, Giuseppe
mostra contributor esterni 
Data di pubblicazione: 2005
Abstract: A new humanoid robot capable of verious motion is proposed in this paper, which has a 2 DOF wasit 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 waist. 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.
Handle: http://hdl.handle.net/20.500.11770/302734
ISBN: 0-7803-9320-1
Appare nelle tipologie:4.1 Contributo in Atti di convegno

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http://hdl.handle.net/20.500.11770/302734
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