2A1-D18 2足ヒューマノイドロボットの歩行支援機を用いた歩行実験

• 申 世用

  早稲田大

• 小椋 優

  早稲田大

• 相川 弘行

  早稲田大

• 近藤 秀樹

  早稲田大

• 森島 彰俊

  早稲田大

• 下村 嘉士

  早稲田大

• 林 憲玉

  神奈川大

• 高西 淳夫

  早稲田大

書誌事項

タイトル別名

• 2A1-D18 Walking experiments of a biped humanoid robot with a walk-assist machine

抄録

This paper describes development of a humanoid robot WABIAN-2 having two 7-DOF arms, a 2-DOF trunk, two 7-DOF legs and 2-DOF pelvis. WABIAN-2 is designed as a human motion simulator: a biped humanoid robot having an ability to mimic various human motions is used for testing welfare/rehabilitation instruments. 2-DOF trunk enables human-like bent/extension and side flexion. Also 7-DOF arms were designed for that the robot can support its weight only using the arms when it uses the walking assist machine. Basic motion experiments and walking experiments with WABIAN-2 are conducted. Furthermore walking experiments with a walking-assist machine are discussed. The results obtained demonstrated that the adjustment of the height of the armrest can adjust load distribution between the upper limb and lower limb.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2006 (0), _2A1-D18_1-_2A1-D18_4, 2006

  一般社団法人 日本機械学会

キーワード

• Biped humanoid robot
• Human motion simulator
• Forearm control
• Walk with a walker

詳細情報

• CRID: 1390001205933653632
• NII論文ID: 110008694036
• DOI: 10.1299/jsmermd.2006._2a1-d18_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2006/0/2006__2A1-D18_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可