Design of a 21-DOF Humanoid Robot to Attain Flexibility in Human-Like Motion

This paper presents a design of a 21-DOF humanoid robot from the perspective of DOFs and joint angle range characteristic to identify elements that provide flexibility to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. The investigation is focusing in joint structure design, configuration of DOF and joint rotation range of 21-DOF humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective elements to attain flexibility in human-like motion