Full-Body Motion Control Based on Gait Analysis for Biped Humanoid Robot and Quantitative Evaluation of Welfare Equipment
Project/Area Number |
24360099
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Research Category |
Grant-in-Aid for Scientific Research (B)
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Allocation Type | Partial Multi-year Fund |
Section | 一般 |
Research Field |
Intelligent mechanics/Mechanical systems
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Research Institution | Waseda University |
Principal Investigator |
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Co-Investigator(Kenkyū-buntansha) |
LIM Hun-ok 神奈川大学, 工学部, 教授 (10318769)
HASHIMOTO Kenji 早稲田大学, 理工学術院, 講師 (10449340)
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Project Period (FY) |
2012-04-01 – 2015-03-31
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Project Status |
Completed (Fiscal Year 2014)
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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)
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Keywords | ロボティクス / ヒューマノイド / 2足歩行 / 歩行解析 / 2足歩行 |
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.
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Report
(4 results)
Research Products
(39 results)
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[Presentation] Leg with Rotational Joint That Mimics Elastic Characteristics of Human Leg in Running Stance Phase2014
Author(s)
Takuya Otani, Thomas George, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi
Organizer
14th IEEE-RAS International Conference on Humanoid Robots
Place of Presentation
Madrid, Spain
Year and Date
2014-11-18 – 2014-11-20
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