Title :
Development of musculoskeletal humanoid kenzoh with mechanical compliance changeable tendons by nonlinear spring unit
Author :
Nakanishi, Yuto ; Izawa, Tamon ; Osada, Masahiko ; Ito, Nobuyuki ; Ohta, Shigeki ; Urata, Junichi ; Inaba, Masayuki
Author_Institution :
Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo, Japan
Abstract :
We have developed and studied musculoskeletal humanoids. Our goal is to achieve more human-like humanoids which can do natural and dynamic motions as well as humans. Especially, joint DOFs redundancy, mechanical joint compliance and great joint generating power are very important for humanlike dynamic motions and tasks, such as running, jumping, landing, throwing/kicking/catching a ball, and so on. This paper presents the concepts and aim of this project and also shows the outline of our latest results about development of new musculoskeletal humanoid Kenzoh, which is the succeeding version of our previous Kojiro.
Keywords :
robot dynamics; springs (mechanical); DOF redundancy; human-like humanoids; humanlike catching tasks; humanlike dynamic motions; humanlike jumping tasks; humanlike kicking tasks; humanlike landing tasks; humanlike running tasks; humanlike throwing tasks; humanoid dynamic motions; humanoid natural motions; mechanical compliance changeable tendons; mechanical joint compliance; musculoskeletal humanoid Kenzoh development; musculoskeletal humanoid Kojiro; nonlinear spring unit; Actuators; Bones; Joints; Muscles; Robot sensing systems; Springs;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181655
