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IEEE International Conference on robotics and Automation (ICRA)

作者： Y. Ogura H. Aikawa H.-O. Lim A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Atsugi Japan Department of Mechanical Engineering/Humanoid Robotics Institute Waseda University Tokyo Japan

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.

关键词： Legged locomotion Humanoid robots Leg Knee Humans Hip design engineering Systems engineering and theory Joints Mechanical engineering

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THE STORY of PINO

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International Journal of Humanoid robotics 2004年第3期1卷 449-463页

作者： Kitano, Hiroaki Yamasaki, Fuminori Matsui, Tatsuya Endo, K.E.N. Matsuoka, Yukiko Kaminaga, Hiroshi Kato, Yuichiro ERATO-SORST Kitano Symbiotic Systems Project 6-31-15 Jingumae Shibuya Tokyo150-0001 Japan Emergent Robotics Area Department of Adaptive Machine Systems Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita Osaka565-0871 Japan Flower Robotics Inc. J-House 301 6-8-15 Minami Aoyama Shibuya Tokyo150 Japan Future Robotics Research Center Chiba Institute of Technology 2-17-1 Tsudanuma Narashino Chiba275-0016 Japan Integrated Design Engineering Keio University 3-14-1 Hiyoshi Kohokuku Yokoyama 223-0061 Japan ERATO-SORST Kitano Symbiotic Systems Project 6-31-15 Jingumae Shibuya Tokyo150-0001 Japan ZMP Inc. 7F Katsuta Building 1-3-39 Mita Minato-ku Tokyo108-0073 Japan ZMP Inc. 7F Katsuta Building 1-3-39 Mita Minato-ku Tokyo108-0073 Japan

PINO is a small-sized, low-cost humanoid robot developed for research. The salient feature of PINO is the use of low-cost components, extensive esthetic design, the disclosure of technical information under GNU General Public Licensing, the use of evolutionarly computing methods to generate stable walking patterns, and numerious commerical developments. In fact, PINO is the first biped humanoid robot that was sold as a commercial product. Currently, PINO-II is on the market with various improved aspects of PINO. This article describe ideas behind PINO, and how it was developed and transferred into the industrial sector. © 2004 World Scientific Publishing Company.

关键词： Anthropomorphic robots

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Vehicle stability improvement using fuzzy controller and neural-network slip angle observer

Vehicle stability improvement using fuzzy controller and neu...

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作者： Durali, Mohammad Bahramzadeh, Yusef Center of Excellence for Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology P.O. Box 11365-9567 Tehran Iran

This article describes the design and implementation of a fuzzy controller developed for improving car stability by controlling car side-slip angle. The strategy has been to estimate the slip angle by a trained neural network and to determine an appropriate force arrangement on the wheels to produce the necessary yaw moment to limit car side slip control. A seven degrees of freedom car model including nonlinear tire behavior is used in design stage. The results were then validated on a full car model in ADAMS having 156 DOF and including elements nonlinearities and flexibilities. The simulations show the capability of the designed controller in improving stability of the car in sever maneuvers. Copyright © 2003 SAE International.

关键词： Degrees of freedom (mechanics)

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Optimization of torsion beam cross section using a combined FEM-dynamic simulation

Optimization of torsion beam cross section using a combined ...

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作者： Durali, Mohammad Behravesh, Behzad Center of Excellence for Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology P.O. Box 11365-9567 Tehran Iran

The compound axle is a space saving suspension component that is relatively inexpensive and easy to install. Therefore it is used in rear suspension system of most front wheel drive passenger cars. This article present an optimum design algorithm for this component. A typical cross section for this the torsion beam of the axle is selected as a basis design. Using finite element methods, kinematics and elasto-kinematics behaviors of the section in vehicle normal maneuvers have been calculated. The acquired dynamic characteristics of the member was entered into a dynamic simulation program and the effect of geometrical parameters of torsion beam on the vehicle handling was studied. Using DOE method a sensitivity analysis was carried out on the torsion beam cross section to achieve an optimum cross section that could satisfy the objective function. The results suggest a V shape design as oppose to the usual U shape for the beam and mark the diameter of the torsion bar as the most effective parameter for an optimum design. Copyright © 2003 SAE International.

关键词： Finite element method

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Development of a biped locomotor applicable to medical and welfare fields

Development of a biped locomotor applicable to medical and w...

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Lim, Hun-Ok Suhara, Y. Takanishi, A. Department of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical Engineering Waseda University Japan

ISBN: (纸本)0780377591

This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of Simulink and RT-LAB executed on Windows NT and QNX target system. Using WL-15, dynamic walking with the step time of 0.8 [sec/step] to 1.92 [s/step] and turning step of 90 is conducted, and the effectiveness of WL-15's parallel mechanisms is confirmed. © 2003 IEEE.

关键词： Anthropomorphic robots

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Development of a biped locomotor applicable to medical and welfare fields

Development of a biped locomotor applicable to medical and w...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Hun-Ok-Lim Y. Suhara A. Takanishi Department of System Design Engineering Kanagawa Institute of Technology Atsugi Japan Humanoid Robotics Institute Waseda University Japan Department of Mechanical Engineering Waseda University

关键词： Legged locomotion Leg Control systems Kinematics Mobile robots Humans Biomedical engineering design engineering Humanoid robots Medical robotics

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Macro-walking instruction for biped humanoid robot

Macro-walking instruction for biped humanoid robot

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yu. Ogura S. Ando N. Hieda Hun-ok Lim A. Takanishi Waseda University Graduate School of Science and Engineering Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan Humanoid Robotics Institute Waseda University

This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.

关键词： Humanoid robots Legged locomotion Humans Robot sensing systems design engineering Service robots robotics and automation Speech recognition Learning systems Databases

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Stiffness analysis of the humanoid robot WABIAN-RIV: modelling

Stiffness analysis of the humanoid robot WABIAN-RIV: modelli...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Carbone H. Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and MechatronicsDiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

In this paper a humanoid robot named as WABIAN-RIV (WAseda BIpedal humANoid Refined IV) is analyzed in terms of stiffness characteristics. This paper proposes basic models and a formulation in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WABIAN architecture. The proposed formulation is useful for numerical estimation of stiffness performances.

关键词： Humanoid robots Leg Kinematics Neck Legged locomotion Shoulder Mechatronics Performance analysis Laboratories System analysis and design

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV

Numerical and experimental estimation of stiffness performan...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： G. Carbone Hun-Ok Lim A. Takanishi M. Ceccarelli Humanoid Robotics Institute Waseda University Tokyo Japan Laboratory of Robotics and Mechatronic DiMSAT University of Cassino Cassino Italy Department of System Design Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan

In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息

关键词： Humanoid robots Mathematical model Leg Performance analysis Legged locomotion Kinematics Performance evaluation Algorithm design and analysis Humans Shoulder

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