The designs and motions of a shoulder structure with a wide range of movement using bladebone-collarbone structures

We are trying to develop an innovative humanoid which learns from the structure of a human shoulder, especially the bladebone and collarbone. We consider that the bladebone-collarbone structures have the following merits, l)wide range of movement, 2)having the shoulder structure built on to the outside of the chest, allowing space for a lot of parts inside the chest, 3) flexible shoulder like humans. In contrast, it is difficult to control the shoulder structure because it have multiple degrees of freedom and extraordinary physical constraints. An aim of our research is to create a repeatable motion generation system of the bladebone-collarbone structures for real musculo-skeletal humanoid robots. In this paper, we describe the design process of the bladebone-collarbone structures for a muscle-driven humanoid robot, and the simulation system considering geometrical constraints of the structures. Then, we show a motion experiment using the shoulder structures of the humanoid, based on the simulation system we presented.