Title :
A reinforceable-muscle flexible-spine humanoid "Kenji"
Author :
Mizuuchi, Ikuo ; Yoshikai, Tomoaki ; Nakanishi, Yuto ; Inaba, Masayuki
Author_Institution :
Dept. of Mechano-Informatics, Tokyo Univ., Japan
Abstract :
We have been studying about muscle-tendon spined humanoid robots for aiming a novel humanoid robot that has modifiable mechanical flexibility, safety and wide variety of postures. This paper describes a new concept of reinforceable-muscle humanoid and the development of a new musculo-skeletal humanoid robot named "Kenji" that is a prototype muscle-driven humanoid next to previous developed humanoid "Kenta". Kenji has 140 actuators in total and numerous multi-modal sensors. This paper also presents some experiments that show the feasibility of the robot.
Keywords :
actuators; bone; humanoid robots; muscle; Kenji robot; mechanical flexibility; multimodal sensors; muscle-tendon spined humanoid robot; musculo-skeletal humanoid robot; redundancy; reinforceable-muscle flexible-spine humanoid robot; robot posture; Actuators; Humanoid robots; Humans; Mechanical sensors; Multimodal sensors; Muscles; Prototypes; Robot sensing systems; Safety; Torso; Flexibility; Musculo-skeletal humanoid; Redundancy; Reinforceable muscles;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545061
