Development of muscle-driven flexible-spine humanoids

Author

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

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ.

fYear

2005

fDate

5-5 Dec. 2005

Firstpage

339

Lastpage

344

Abstract

Aiming at opening up a new stage of humanoid robotics, we have been studying on the mechanically soft structure for humanoids and have developed a full-body muscle-driven flexible-spine humanoid robots. In this paper, we discuss body structure of humanoids, describing the advantages of musculoskeletal flexible body and briefly introducing the previous works on constructing hardware and software of flexible spine robots. This paper also presents the design and development of a novel musculoskeletal humanoid named Kotaro

Keywords

humanoid robots; motion control; robot dynamics; Kotaro; humanoid robotics; muscle-driven flexible-spine humanoids; musculoskeletal flexible body; Actuators; Hardware; Humanoid robots; Humans; Joints; Mechanical variables control; Musculoskeletal system; Orbital robotics; Research and development; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Conference_Location

Tsukuba

Print_ISBN

0-7803-9320-1

Type

conf

DOI

10.1109/ICHR.2005.1573590

Filename

1573590

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2989745