早稻田大學 高西淳夫研究室（雙足機器人鼻祖）

一提到雙足機器人，大家第一反應也許就是Boston Dynamics Atlas後空翻的視頻！但是當追溯雙足歷史的時候，會發現日本有一個研究室在雙足領域非常厲害：Waseda Takanishi lab（早稻田 高西淳夫研究室）。聽一位師兄（ @新智元 【V直播】三專家解讀波士頓動力Atlas驚艷后空翻7大技術難點 嘉賓席中的梁師兄）這樣描述：「最早最早做雙足類人機器人的鼻祖， BD的Raibert估計也要拜師吧！Takanishi lab的雙足類人機器人在研究方面應該還是世界領先，就是學術性太強了，就我知道的高西的學生現在也在早稻田大學當助理教授有不少新鮮的東西~」。

高西是誰呢？高西是加騰一郎的學生，不了解加騰一郎的朋友可以看看：匿名用戶：日本人對人類文明發展有哪些貢獻？

先來了解下這個研究室到底研究了什麼？

下面將介紹如下的雙足類人機器人：

① WABIAN-2R；

② WABIAN-2RIII；

③ WATHLETE-1；

④ KOBIAN-RIV；

⑤ WE-4RII和WAREC-1

（1）WABIAN-2R（2006-）（直接截圖吧，方便查看~）

通過視頻可以看出，走路姿勢及其像人~技術核心點分析：

（2）WABIAN-2RIII

核心技術點分析：

（3）WATHLETE-1

更多資料詳見：http://www.takanishi.mech.waseda.ac.jp/top/research/index.htm

（4）KOBIAN-RIV（2015）

In 2015, the whole body emotion expression bipedal humanoid robot KOBIAN-RIV was developed. It has 64-DoFs and 4 sensors which serve as sense organs for the robot. It also has a PC, batteries mounted in its body and a display to show internal state of robot on its chest. The total weight of KOBIAN-RIV is 63 kg.

更多資料詳見：http://www.takanishi.mech.waseda.ac.jp/top/research/index.htm

（5）WE-4RII和WAREC-1

更多資料詳見：Head Robot Team和Disaster Response Robot。

參考網址：Research

Yu Ogura, Hiroyuki Aikawa, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Hun-ok Lim and Atsuo Takanishi, "Development of A Humanoid Robot WABIAN-2," Proceedings of the 2006 IEEE International Conferenceon Robotics and Automation, pp. 76-81, Orlando, USA, May, 2006.

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 ",5th IEEE-RAS International Conference on Humanoid Robots, pp. 333-338,Tsukuba, Japan, December, 2005.

Yu Ogura, Kazushi Shimomura, Hideki Kondo, Akitoshi Morishima, Tatsu Okubo, Shimpei Momoki, Hun-ok Lim and Atsuo Takanishi, "Human-like Walking with Knee Stretched, Heel-contact and Toe-off Motion by a Humanoid Robot," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3976-3981, Beijing, China, October, 2006.

Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo,Takamichi Takashima, Hun-ok Lim and Atsuo Takanishi, "A Study of Function of the Humans Foot Arch Structure Using Biped Humanoid Robot,"Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2206-2211, Taipei, Taiwan, October, 2010.

Kenji Hashimoto, Hiromitsu Motohashi, Takamichi Takashima, Hun-ok Lim and Atsuo Takanishi, "Shoes-wearable Foot Mechanism Mimicking Characteristics of Humans Foot Arch and Skin," Proceedings of the 2013IEEE International Conference on Robotics and Automation, pp. 678-683, Karlsruhe, Germany, May, 2013.

Takuya Otani, Akihiro Iizuka, Daiki Takamoto, Hiromitsu Motohashi,Tatsuhiro Kishi, Przemyslaw Kryczka, Nobutsuna Endo, Lorenzo Jamone,Kenji Hashimoto, Takamichi Takashima, Hun-ok Lim and Atsuo Takanishi,"New Shank Mechanism for Humanoid Robot Mimicking Human-like Walking in Horizontal and Frontal Plane," Proceedings of the 2013 IEEE International Conference on Robotics and Automation, pp. 659-664, Karlsruhe, Germany, May, 2013.

Hideki Kondo, Akitoshi Morishima, Yu Ogura, Shimpei Momoki, Juri Shimizu, Hun-ok Lim and Atsuo Takanishi, "Algorithm of Pattern Generation for Mimicking Disabled Persons Gait," Proceedings of the second IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 724-729, Arizona, USA, October, 2008.

Kenji Hashimoto, Yuki Yoshimura, Hideki Kondo, Hun-ok Lim and AtsuoTakanishi, "Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet," Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 2041-2046,Shanghai, China, May, 2011.

Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun-ok Lim,Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz, "A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform," Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2076-2081, Vilamoura, Algarve, Portugal, October, 2012.

Egidio Falotico, Nino Cauli, Kenji Hashimoto, Przemyslaw Kryczka,Atsuo Takanishi, Paolo Dario, Alain Berthoz and Cecilia Laschi, "Head Stabilization Based on a Feedback Error Learning in a Humanoid Robot,"Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication, pp. 449-454, Paris, France, September, 2012.

Aiman Musa M. Omer, Hideki Kondo, Hun-ok Lim, and Atsuo Takanishi."Development of Walking Support System Based on Dynamic Simulation," IEEE International Conference on Robotics and Biomimetics (Robio 2008), pp.137-142., Bangkok, Thailand, February, 2009.

Hyun-jin Kang, Shimpei Momoki, Hideki Kondo, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, "Attitude Compensation Control for BipedHumanoid Robot," Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 677-684, Istanbul, Turkey, September, 2009.

Hyun-jin Kang, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, KosukeNishikawa, Yuichiro Hama, Hun-ok Lim, Atsuo Takanishi, Keisuke Suga and Keisuke Kato, "Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface," Proceedings of the 2010 IEEE International Conference on Robotics and Automation, pp.5167-5172, Anchorage, Alaska, May, 2010.

Hideki Kondo, Juri Shimizu, Kenji Hashimoto, Kentaro Hattori, Kosuke Nishikawa, Yuki Takezaki, Yuichiro Hama, Yuki Yoshimura, Hun-ok Lim and Atsuo Takanishi, "Realization of Walking by FFT-based Online Pattern Generation," Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for MobileMachines, pp. 615-622, Istanbul, Turkey, September, 2009.

Przemyslaw Kryczka, Kosuke Nishikawa, Juri Shimizu, Kenji Hashimoto,Aiman Musua M. Omar, Hideki Kondo, Kentaro Hattori, Yuki Takezaki,Hun-ok Lim, Atsuo Takanishi, Keisuke Suga and Keisuke Kato,「Development of Disturbance Force Generator for Humanoid Robots，The proceeding of the 27st annual conference of the robotics society of Japan ，Japan, 1S1-07，Sep，2009．

Kenji Hashimoto, Hyun-jin Kang, Masashi Nakamura, Egidio Falotico,Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz, "Realization of Biped Walking on Soft Ground with Stabilization Control Based on Gait Analysis," Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2064-2069, Vilamoura, Algarve, Portugal, October, 2012.

Aiman Musa M. Omer, Kenji Hashimoto, Hun-ok Lim, and Atsuo Takanishi."Initial Study of Bipedal Robot Locomotion Approach on Different GravityLevels ", 2011 IEEE/SICE International Symposium on System Integration (SI International 2011), pp. 802-807, Kyoto, Japan, December 2011.

Aiman Musa M. Omer, Hun-ok Lim, and Atsuo Takanishi." Simulation Study of a Bipedal Robot Jumping Motion Approach on Moon Gravity ", IEEE International Conference on Robotics and Biomimetics (Robio 2010), pp.218-222, Tianjin, China, December 2010.

等等。

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