Title :
Realization of Standing of the Musculoskeletal Humanoid Kotaro by Reinforcing Muscles
Author :
Mizuuchi, Ikuo ; Nakanishi, Yuto ; Namiki, Yuta ; Nishino, Tamaki ; Urata, Junichi ; Inaba, Masayuki ; Yoshikai, Tomoaki ; Sodeyama, Yoshinao
Author_Institution :
Dept. of Mechano-Informatics, Tokyo Univ.
Abstract :
We have been studying on how to realize robots that have physical flexibility and redundant multiple degrees of freedom. How to control the machine is still a problem and even maintaining standing was difficult. After joining the Prototype Robot Exhibition at the EXPO´05 with our novel musculoskeletal humanoid `Kotaro,´ we have made various improvements to the robot. This paper describes the improvements, and presents some experiments. The highlight is realization of standing itself, based on a concept of ´reinforceable muscle humanoid,´ which we have proposed
Keywords :
humanoid robots; motion control; robot kinematics; Kotaro robot; musculoskeletal humanoid robot; reinforcing muscles; robot standing; Actuators; Humanoid robots; Humans; Joints; Multimodal sensors; Muscles; Musculoskeletal system; Prototypes; Robot sensing systems; Tactile sensors;
Conference_Titel :
Humanoid Robots, 2006 6th IEEE-RAS International Conference on
Conference_Location :
Genova
Print_ISBN :
1-4244-0200-X
Electronic_ISBN :
1-4244-0200-X
DOI :
10.1109/ICHR.2006.321381
