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
fDate :
Nov. 29 2007-Dec. 1 2007
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;
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
DOI :
10.1109/ICHR.2007.4813854
