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We are developing musculoskeletal humanoid robots with humanlike muscles and bones that can perform humanlike flexible motions. For the “muscles”, we use a wire-driven system in which motors wind wires used to flexibly move the joints. This system not only moves the robot itself but also controls the motion stiffness with nonlinear spring units. A musculoskeletal robot with these units distributed...
The high power ability of humanoid is desired for application of nursing or running or jumping motions. Achievement of the actuator of light and powerful equivalent to humans is required. In this paper, we propose a method to extract inherent performance from motors by an active temperature control. The method safely improves the output of motors. The active temperature control is achieved by combining...
We are developing the novel musculoskeletal humanoid that is able to do coordinated motion with arms, legs and spine. In this research, we present how to realize largely bending/extending motion while standing using spine and hip joints of a fullbody musculoskeletal humanoid, which has a complicated body like a human, such as over 90 muscles and about 60 DOFs. And we propose how to generate coordinated...
This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts of many sensors including...
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