Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator

Author

Nakanishi, Yoichiro ; Asano, Yuji ; Kozuki, Toyotaka ; Mizoguchi, Hiroshi ; Motegi, Yotaro ; Osada, Masahiko ; Shirai, Tokimasa ; Urata, Junichi ; Okada, Kenichi ; Inaba, Masayuki

Author_Institution

Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan

fYear

2012

fDate

Nov. 29 2012-Dec. 1 2012

Firstpage

1

Lastpage

6

Abstract

We have developed and studied musculoskeletal humanoids. Our goal is to realize a more human-like humanoid as a real human simulator, which has the same muscle and joint arrangements as human´s and can do natural and dynamic motions as well as humans. Especially, it is very challenging to design musculoskeletal structure which can contain a large number of high powered muscles. Now, we design new fullbody musculoskeletal humanoid Kenshiro. This paper presents the concepts of this new robot and also shows the outline of our latest results Kenshiro, which is the succeeding version of our previous robot Kojiro.

Keywords

control system synthesis; humanoid robots; legged locomotion; muscle; Kenshiro fullbody musculoskeletal humanoid design; human-like humanoid; joint arrangement; muscle arrangement; natural-dynamic motions; real-human body musculoskeletal simulator; Actuators; Bones; Joints; Materials; Muscles; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on

Conference_Location

Osaka

ISSN

2164-0572

Type

conf

DOI

10.1109/HUMANOIDS.2012.6651491

Filename

6651491