Design Approach of Biologically-Inspired Musculoskeletal Humanoids

Yuto Nakanishi; Shigeki Ohta; Takuma Shirai; Yuki Asano; Toyotaka Kozuki; Yuriko Kakehashi; Hironori Mizoguchi; Tomoko Kurotobi; Yotaro Motegi; Kazuhiro Sasabuchi; Junichi Urata; Kei Okada; Ikuo Mizuuchi; Masayuki Inaba

doi:10.5772/55443

International Journal of Advanced Robotic Systems (Apr 2013)

Design Approach of Biologically-Inspired Musculoskeletal Humanoids

Yuto Nakanishi,
Shigeki Ohta,
Takuma Shirai,
Yuki Asano,
Toyotaka Kozuki,
Yuriko Kakehashi,
Hironori Mizoguchi,
Tomoko Kurotobi,
Yotaro Motegi,
Kazuhiro Sasabuchi,
Junichi Urata,
Kei Okada,
Ikuo Mizuuchi,
Masayuki Inaba

Affiliations

Yuto Nakanishi: Department of Mechano-Informatics, The University of Tokyo, Japan
Shigeki Ohta: Department of Mechano-Informatics, The University of Tokyo, Japan
Takuma Shirai: Department of Mechano-Informatics, The University of Tokyo, Japan
Yuki Asano: Department of Mechano-Informatics, The University of Tokyo, Japan
Toyotaka Kozuki: Department of Mechano-Informatics, The University of Tokyo, Japan
Yuriko Kakehashi: Department of Mechano-Informatics, The University of Tokyo, Japan
Hironori Mizoguchi: Department of Mechano-Informatics, The University of Tokyo, Japan
Tomoko Kurotobi: Department of Mechano-Informatics, The University of Tokyo, Japan
Yotaro Motegi: Department of Mechano-Informatics, The University of Tokyo, Japan
Kazuhiro Sasabuchi: Department of Mechano-Informatics, The University of Tokyo, Japan
Junichi Urata: Department of Mechano-Informatics, The University of Tokyo, Japan
Kei Okada: Department of Mechano-Informatics, The University of Tokyo, Japan
Ikuo Mizuuchi: Department of Mechanical systems Engineering, Tokyo University of Agriculture and Technology, Japan
Masayuki Inaba: Department of Mechano-Informatics, The University of Tokyo, Japan

DOI: https://doi.org/10.5772/55443
Journal volume & issue: Vol. 10

Abstract

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In order to realize more natural and various motions like humans, humanlike musculoskeletal tendon-driven humanoids have been studied. Especially, it is very challenging to design musculoskeletal body structure which consists of complicated bones, redundant powerful and flexible muscles, and large number of distributed sensors. In addition, it is very challenging to reveal humanlike intelligence to manage these complicated musculoskeletal body structure. This paper sums up life-sized musculoskeletal humanoids Kenta, Kotaro, Kenzoh and Kenshiro which we have developed so far, and describes key technologies to develop and control these robots.

Published in International Journal of Advanced Robotic Systems

ISSN: 1729-8814 (Online)
Publisher: SAGE Publishing
Country of publisher: United Kingdom
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Electronics; Science: Mathematics: Instruments and machines: Electronic computers. Computer science
Website: https://journals.sagepub.com/home/arx

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