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

fYear

2011

Firstpage

2384

Lastpage

2389

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181655

Filename

6181655