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To achieve contact tasks with musculoskeletal humanoids, adaptive motion by muscle tension control and robustness against actuator malfunction is important. In this paper, we develop a tension-based joint-space controller for musculoskeletal multiple DOF joints. Joint angle estimation is integrated with the controller, enabling application to spherical joints and spine structure whose joint angle...
We have been developing human mimetic musculoskeletal humanoids from the view point of human-inspired design approach. Kengoro is our latest version of musculoskeletal humanoid designed to achieve physically interactive actions in real world. This study presents the design concept, body characteristics, and motion achievements of Kengoro. In the design process of Kengoro, we adopted the novel idea...
We propose a human mimetic foot structure for musculoskeletal humanoids. We designed the foot structure by inspiring from human foot abilities of the multi-bone connected structure for flexibility and the distributed force sensor system. The foot has multi-DOFs structure including toe DOF that is composed of fingers. The distributed force sensing system is composed of 12 an-axis force sensors. In...
To control a musculoskeletal tendon-driven robot we propose a novel method to learn musculoskeletal nonlinear bidirectional mapping between muscle length and posture (joint angle) from a real musculoskeletal robot. We show the nonlinear musculoskeletal mapping from joint angle to muscle length can be learned as a linear combination of simple nonlinear functions. This formulation can be extended to...
This paper presents the development of life-sized high-power humanoid robot JAXON. Humanoid robots for disaster relief assistance need the same degree of physical performance as humans. We have developed STARO as the high-power humanoid robot with a high degree of physical performance. However this is not enough for practical use of the humanoid robot in a disaster site. We consider the following...
We propose a sensor-driver integrated muscle module by integrating necessarily components for tendon-driven robot which is likely to complicate. The module has abilities of high-tension measurability and flexible tension control. In order to achieve flexible tension control, we developed the new tension measurement mechanism with high-tension measurability and the new motor driver which enables current...
The main goal of this paper is to design and evaluate a spine structure which withstands various motions. The structure around the neck has a prevailing importance since it is involved in various motions of the upper half of the body. The new design method we introduce essentially shows how to design all 7 cervical vertebrae (the part of spine in the neck) in a limited space, actuated by the wires...
This paper presents a control approach to express muscle-tendon complex in a musculoskeletal humanoid robot. Kenshiro is a full body tendon driven humanoid robot and is designed from the data of average 14 year old Japanese boy. By winding wires by motors we can express the contraction of muscles, and in this paper we introduce novel actuation system realized by integrating “Tension controlled Muscle(TCM)”...
Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism. We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. The importance of developing a knee joint with screw-home mechanism is that such a joint is capable of working yaw-axis properly and generating enough pitch joint torque for supporting whole body motion...
This paper presents a design methodology for humanoid upper limb based on human anatomy. Kenshiro is a full body tendon driven humanoid robot and is designed from the data of average 14 year old Japanese boy. The design of his upper limb is realizing detail features of muscles, bones and the adhesive relation of the two. Human mimetic design is realized by focusing on the fact that joints are being...
Musculoskeletal humanoid has robot-model errors because of muscle elasticity or elongation. This leads to low accuracy and repeatability in joint position control. In particular, this is a serious problem during high-load motions. In this paper, we propose and implement its compensation methods for generating motions in the presence of robot-model errors. One of the control methods presented is a...
We have developed and studied musculoskeletal humanoids. Our goal is to realize a more human-like humanoid as a real human simulator, which has the same muscle and joint arrangements as human's and can do natural and dynamic motions as well as humans. Especially, it is very challenging to design musculoskeletal structure which can contain a large number of high powered muscles. Now, we design new...
In order to know human dynamics, humanoid as a human body simulator is increasing its importance. Such humanoid is expected to have human musculoskeletal structure as close as possible. From this viewpoint, we are trying to create new musculoskeletal humanoid which has detailed human imitating structure, such as bi-articular muscle, muscle arrangement, joint structure and so on. In this paper, we...
To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper...
We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screw-home mechanism is for locking knee joint. Four-linked...
In recent years, humanlike robots have recieved a lot of attension. For making humanlike robots, a muscu-loskeletal humanoid is an effective approach. However, many musculoskeletal humanoids have not yet been equipped with really humanlike bones and muscles, especially for the body trunk, which is the core of the robot. For making a powerful and lithe humanoid body trunk with really humanlike bones...
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