• DocumentCode
    3143401
  • Title

    Design of the musculoskeletal trunk and realization of powerful motions using spines

  • Author

    Nakanishi, Yuto ; Namiki, Yuta ; Hongo, Kazuo ; Urata, Junichi ; Mizuuchi, Ikuo ; Inaba, Masayuki

  • Author_Institution
    Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo
  • fYear
    2007
  • fDate
    Nov. 29 2007-Dec. 1 2007
  • Firstpage
    96
  • Lastpage
    101
  • Abstract
    We are developing the novel musculoskeletal humanoid that is able to do coordinated motion with arms, legs and especially trunk body. In this research, we designed and implemented the trunk consisting of redundant articulated spine joints which can hold up and drive the upper body and pelvis. Furthermore, we confirmed that this trunk body ability to do full body motion, by an experiment of spine rotation motions with the real humanoid developed.
  • Keywords
    humanoid robots; mobile robots; mobile robot; musculoskeletal humanoid robot; musculoskeletal trunk design; redundant articulated spine joint; spine rotation motion; Actuators; Arm; Bones; Humans; Joints; Muscles; Musculoskeletal system; Pelvis; Robot kinematics; Temperature sensors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Humanoid Robots, 2007 7th IEEE-RAS International Conference on
  • Conference_Location
    Pittsburgh, PA
  • Print_ISBN
    978-1-4244-1861-9
  • Electronic_ISBN
    978-1-4244-1862-6
  • Type

    conf

  • DOI
    10.1109/ICHR.2007.4813854
  • Filename
    4813854
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3143401