Title :
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.
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;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573590
