Robotics Laboratory

H. Lim

Hun-ok Lim

Office: 23-508 Ext.: 3756


03/1999, D.E., Waseda University

03/1990, M.E., Waseda University

Y. Tamura

Yasuto Tamura
(Assistant Professor)

Laboratory: 23-507 Ext.: 3755


03/2014, M.E., Kanagawa University

Research Field

Robotics, Mechatronics, Control Systems, Intelligent Mechanical Systems

Research Subjects

    Humanoid Robots, Medical and welfare robots, Entertainment robots, Human friendly robots, Flying robots, Personal motor rollers, Tele-robots, In-pipe inspection robots, Object recognition, Biped Humanoid Robot, Human-Robot Coexistence Robot


(1) Humanoid Robot

Humanoid robots are expected to be used in homes, offices and disaster areas in the near future. Thus, we have developed the Kanagawa Biped Humanoid Robot (KBHR) that consists of 42-DOF: 2-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip, 3-DOF in the waist, 3-DOF in each shoulder, 1-DOF in each elbow, 3-DOF in each wrist, 5-DOF in each hand, and 3-DOF in the head (refer Fig.1). Its weight is 55.4 [kg] and its height is 1.66 [m]. The KBHR can walk forward, backward and sideward using a real time pattern generator. Its hands can grasp many different kinds of objects such as a plastic bottle of mineral water, a cube-shaped object, a spherical rubber ball, and other complex shapes. The mechanisms and control methods for walking and working in different environments, such as one with humans, are currently being studied.

2) Human Friendly Robot

Almost all robots have been constructed under the assumption that collisions with the environment do not occur. For human safety, the robots have various sensors; however, in a situation where a collision occurs with a human due to a failure of the sensor systems and/or the power supplies are suddenly turned off, the human may be severely injured. Therefore, a Human Friendly Robot (HFR) that does not use sensory information for human safety has been developed (refer Fig.2). The HFR consists of a 4-wheeled omni-directional base, a trunk, two arms and air cushion covers. A Collision Force Suppression Mechanism (CSM) that is comprised of a transmission rack, a clutch gear, and compression springs is installed at the joints of the waist and the arms of the HFR. When the robot collides with a human, the arms and the waist will automatically move in the collision direction to reduce impact and collision forces without any electronic control. The base will also move depending on the magnitude of the collision force. Research for more reliable human safety mechanisms is being conducted.

  • 1) Joint Mechanism That Mimics Elastic Characteristics in Human Running, Machines, Vol. 4, Issue 1, Art. 5, 15 pages (2016).
  • 2) A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation, Machines, Vol. 4, Issue 1, 22 pages (2015).
  • 3) Utilization of Human-Like Pelvic Rotation for Running Robot, Frontiers in Robotics and AI, Vol. 2, Art. 17, 9 pages (2015).
  • 4) Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis, International Journal of Advanced Robotic Systems, 11:139, 14 pages (2014).
  • 5) Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet, The Scientific World Journal, Vol.2014, Art. ID 259570, pp.1-9 (2014).
Affiliated Academic Organizations

II) The Japan Society of Mechanical Engineering,
III) The Robotics Society of Japan,
IV) The Society of Instrument and Control Engineers

Current members
◯ Professors: 1 ◯ Assistant Professors: 1 ◯ Postgraduates: 12
◯ Undergraduates: 13