DYNAMIC-BASED SIMULATION FOR HUMANOID ROBOT WALKING USING WALKING SUPPORT SYSTEM

Aiman Musa M. Omer, Yu Ogura, Hideki Kondo, Hun-ok Lim, Atsuo Takanishi

2008

Abstract

A new humanoid bipedal robot WABIAN-2R was developed to simulate human motion. WABAIN-2R is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a passive walk-assist machine. However, walking with an active walk-assist machine is expected to be unstable. Conducting this experiment is highly risky and costly. Therefore, we had developed a dynamic simulator in order to test walking robot with walk-assist machine before conducting it in real simulation.

References

  1. Health, Labour and Welfare Ministry of Japan. http:// www.mhlw.go.jp/english/wp/wphw/vol1/p2c4s2.h-tml. The current situation of people with disabilities.
  2. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K.Fujimura, “The intelligent ASIMO: System overview and integration,” Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp.2478-2483, 2002.
  3. Aiman Musa M. Omer, Yu Ogura, Hideki Kondo, Akitoshi Morishima, Giuseppe Carbone, Marco Ceccarelli, Hun-ok Lim, and Atsuo Takanishi. Development of a Humanoid Robot Having 2-DOF Waist and 2-DOF Trunk. Humanoid2005 Conference, Tsukuba- December 2005.
  4. Yu Ogura, Hiroyuki Aikawa, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Hun-ok Lim, and Atsuo Takanishi. Development of a New Humanoid Robot WABIAN-2. Proceedings of the 2006 IEEE International Conference on Robotics and Automation Orlando, Florida - May 2006.
  5. S. Mojon. Realization of a Physic Simulation for a Biped Robot. Semester Project at BIRG laboratory Swiss Federal Institute of Technology, Summer 2003.
  6. S. Egawa, Y. Nemoto, M. G. Fujie, A. Koseki, S. Hattori, T. Ishii S. Egawa, Y. Nemoto, M. G. Fujie. PowerAssisted Walking Support System with Imbalance Compensation Control for Hemiplegics. Proceedings of the Rrst Joint BMES/EMBS Conference Serving Humanity, Advancing Technology o& 1&16, 99, Athn$, GA, USA.
  7. Saku Egawa, Ikuo Takeuchi, Atsushi Koseki, Takeshi ISHI. Force-sensing Device for Power-assisted Walking Support System. System Integration Conference, December 2002.
  8. P. E. Klopsteg and P. D. Wilson et al., Human Limbs and Their Substitutes, New York Hafner, 1963.
  9. F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, H. Hirukawa, Y. Nakamura, K. Yamane. Open Architecture Humanoid Robotics Platform. ICRA 7802. IEEE International Conference on, Volume: 1, 11-15 May 2002 Robotics and Automation, 2002. Proceedings.
  10. Philippe Sardain and Guy Bessonnet. Force Acting on a Biped Robot Center of Pressure-Zero Moment Point. IEEE Transactions on Systrems, Man, and Cybernetics-Part A: Systems and Humans, Vol. 34, NO. 5, September 2004.
Download


Paper Citation


in Harvard Style

Musa M. Omer A., Ogura Y., Kondo H., Lim H. and Takanishi A. (2008). DYNAMIC-BASED SIMULATION FOR HUMANOID ROBOT WALKING USING WALKING SUPPORT SYSTEM . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 23-28. DOI: 10.5220/0001482100230028


in Bibtex Style

@conference{icinco08,
author={Aiman Musa M. Omer and Yu Ogura and Hideki Kondo and Hun-ok Lim and Atsuo Takanishi},
title={DYNAMIC-BASED SIMULATION FOR HUMANOID ROBOT WALKING USING WALKING SUPPORT SYSTEM},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={23-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001482100230028},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC-BASED SIMULATION FOR HUMANOID ROBOT WALKING USING WALKING SUPPORT SYSTEM
SN - 978-989-8111-31-9
AU - Musa M. Omer A.
AU - Ogura Y.
AU - Kondo H.
AU - Lim H.
AU - Takanishi A.
PY - 2008
SP - 23
EP - 28
DO - 10.5220/0001482100230028