抄録
This paper describes development of a humanoid robot WABIAN-2 having two 7-DOF arms, a 2-DOF trunk, two 7-DOF legs and 2-DOF pelvis. WABIAN-2 is designed as a human motion simulator: a biped humanoid robot having an ability to mimic various human motions is used for testing welfare/rehabilitation instruments. 2-DOF trunk enables human-like bent/extension and side flexion. Also 7-DOF arms were designed for that the robot can support its weight only using the arms when it uses the walking assist machine. Basic motion experiments and walking experiments with WABIAN-2 are conducted. Furthermore walking experiments with a walking-assist machine are discussed. The results obtained demonstrated that the adjustment of the height of the armrest can adjust load distribution between the upper limb and lower limb.
