Mechanism and Motion of New Biped Leg Machine

摘要

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.