A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness

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Development of a new humanoid robot WABIAN-2

https://hal.archives-ouvertes.fr/hal-01676474/document

Models, feedback control, and open problems of 3D bipedal robotic walking

This paper gives an overview on the torque-controlled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware. Additionally, we give a short introduction to the walking and multi-contact balancing strategies used for TORO.

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Overview of the torque-controlled humanoid robot TORO

The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the design process, mechanical features, and electrical features with specifications of HRP-4C.

Cybernetic human HRP-4C

This paper presents a 50 degrees of freedom humanoid robot, CB - Computational Brain. CB is a humanoid robot created for exploring the underlying processing of the human brain while dealing with the real world. We place our investigations within real world contexts, as humans do. In so doing, we focus on utilising a system that is closer to human - in sensing, configuration and performance. The real-time network-based control architecture for the control of all 50 degrees of freedom will be presented. The controller provides full position/velocity/force sensing and control at 1 KHz, allowing us the flexibility in deriving various forms of control schemes. Three aspects of the system are highlighted in this paper: 1) physical power for walking; 2) full-body compliant control - physical interactions; 3) perception and control - visual ocularmotor responses.

/pdf/cb-a-humanoid-research-platform-for-exploring-neuroscience-4vi64bb471.pdf

CB: A Humanoid Research Platform for Exploring NeuroScience

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.

Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

Evaluation of Various Walking Patterns of Biped Humanoid Robot

Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine

In the aging society, more effective rehabilitation/welfare instruments to support seniors and disabled persons are required. However, it becomes difficult the evaluation of such instruments for safety reasons. Therefore, we suggest the use of a humanoid robot, which is able to display human motions, instead of a human to evaluate such instruments as an experimental subject. The use of robots for measurement purposes is safe and gives us the quantitative data for improving rehabilitation/welfare instruments. Recently, we have developed the new humanoid robot as a human motion simulator, WABIAN-2. This robot can walk autonomously with the knees stretched like a human by using waist motion, and also it can walk by physically interacting with a walk-assist machine. In this paper, the experiments are focused verifying if the WABAIN-2 can be considered as a human motion simulator to move a walk-assist machine while walking.

H. Aikawa

Papers

Development of a new humanoid robot WABIAN-2

Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

Evaluation of Various Walking Patterns of Biped Humanoid Robot

Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine

Biped Humanoid Robot Capable of Being Used as Human Motion Simulator