| Budget Amount *help |
¥18,590,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥4,290,000)
Fiscal Year 2014: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2013: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2012: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
|
|---|
| Outline of Final Research Achievements |
In this study we developed a biped walking stabilization based on gait analysis for a humanoid robot. So far, we have developed a humanoid robot as a human motion simulator which can quantitatively evaluate welfare equipment instead of human subjects. However, the walking motion of the robot looked like human's, but a walking stabilization control was not based on gait analysis. To use a humanoid robot as a human motion simulator, not only mechanisms but also a stabilizer should be designed based on human beings.
We developed a head motion stabilization model and a walking stabilization control on a soft ground based on gait analysis. Verification of the proposed controls was conducted through experiments with a human-sized humanoid robot WABIAN-2.
We also developed a new shank mechanism to mimic human-like walking in the horizontal and frontal planes and a shoes-wearable foot mechanism which mimics human's foot arch structure and the characteristics of the foot skin.
|
