Development of musculoskeletal humanoid Kotaro

Author

Mizuuchi, Ikuo ; Yoshikai, Tomoaki ; Sodeyama, Yoshinao ; Nakanishi, Yuto ; Miyadera, Akihiko ; Yamamoto, Taichi ; Niemelä, Tuomas ; Hayashi, Marika ; Urata, Junichi ; Namiki, Yuta ; Nishino, Tamaki ; Inaba, Masayuki

Author_Institution

Dept. of Mechano-Informatics, Tokyo Univ.

fYear

2006

fDate

15-19 May 2006

Firstpage

82

Lastpage

87

Abstract

This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro´. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts of many sensors including eyes, ears, and whole-body tactile sensors, and so on. These characteristics would achieve a flexible body, litheness of motions, safety, and adaptability and applicability to diverse tasks which would very often appear in human´s daily lives

Keywords

distributed control; humanoid robots; robot kinematics; Kotaro; distributed onbody controllers; multiple-joint spine; muscle-driven endoskeletal structure; musculoskeletal humanoid; variable physical softness; DC motors; Ear; Eyes; Humanoid robots; Joints; Muscles; Musculoskeletal system; Safety; Sensor phenomena and characterization; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641165

Filename

1641165