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1、Proceedingsofthe2006IEEEInternationalConferenceonRoboticsandAutomationOrlando,Florida-May2006*DevelopmentofaNewHumanoidRobotWABIAN-2YuOgura,HiroyukiAikawa,KazushiShimomura,HidekiKondo,andHun-okLimAtsuoTakanishiAkitoshiMorishimaGraduateSchoolofScienceandDepartmentofMechanicalDep
2、artmentofMechanicalEngineering/EngineeringEngineeringHumanoidRoboticsInstituteWasedaUniversityKanagawaUniversityWasedaUniversityTokyo,JapanYokohama,JapanTokyo,Japanuogura@ruri.waseda.jpholim@ieee.orgtakanisi@waseda.jpAbstract-Anewhumanoidrobot—WABIAN-2—thatcan[6].WasedaUniversi
3、tydevelopedtheWABIANseriesthatbeusedasahumanmotionsimulatorisproposedinthispaper.realizedhumanoidwalkingwitha3-DOFtrunkmotionandaItstrunkisdesignedinordertopermitrotation,andforward,3-axiszeromomentpoint(ZMP)compensationusingthebackward,andsidewaymovement.Further,itsarmsaretrun
4、k[7][8].KoreaAdvancedInstituteofScienceanddesignedtosupportitscompleteweightwhenpushingawalk-Technology(KAIST)alsodevelopeda41-DOFhumanoidassistmachine.Moreover,itcanleanonawalk-assistmachinebyrobot—KHR-2[9].forearmcontrolusingtrunkmotion.BasicwalkingexperimentswithWABIAN-2arec
5、onductedwithandwithoutawalk-assistTheabovementionedhuman-sizebipedrobotsachievedmachine,therebyconfirmingitseffectiveness.stableanddynamicwalking.IfthesehumanoidrobotscanuserehabilitationorwelfareinstrumentsasshowninFig.1(b),IndexTerms-RobotDesign,HumanoidRobot,Bipedrobot,theyc
6、ouldhelpintestingsuchinstrumentsquantitatively.TheVariousWalkingMotions,StretchWalkingmainadvantagesofthesimulatorcanbeconsideredtobeasfollows:(1)ThemeasurementoftheangleandthetorqueI.INTRODUCTIONrequiredateachjointcanbemeasuredeasilyandWiththerapidagingofsocietyinrecenttimes,t
7、hequantitativelyascomparedtothecorrespondingvaluesinthenumberofpeoplewithlimbdisabilitiesisincreasing.caseofahumanmeasurement.(2)ExperimentsusingsuchAccordingtoaresearchbytheHealth,LabourandWelfarerobotscanhelpidentifylegdefectsofahumanfromanMinistry,aJapanesegovernmentagency,t
8、herearearoundengineeringpointofview.(3)Arobotcanreplac
