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In order to obtain adaptive motions from external forces in environments, a multijoint and soft structure is important for humanoids. Because adaptive motions represent response capabilities interacting with environments and contribute to safety aspects in the process of fitting in human society. Moreover, it is significant for humanoids to realize these motions not only in their hands but also in...
A method of giving intelligence to control robots by human navigations is one of appropriate solution to respond to a lot of unforeseeable situations, and making movement of complicated robots in contact condition with surroundings is not easy. In this research, a bilateral wearable device using stiffness adjustable muscle actuator modules is developed in order to control robots, feel external force...
A humanoid that has multiple sensors and actuators has a wide variety of potential behaviors. How to realize the rich behavior is a problem. In this paper, we propose a method to construct reactive system based on the combination of multiple behavior processing systems. The method consists of a server and clients. By this method, some people can develop elements of the behavior in parallel.
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...
This paper presents how to develop a lower body with both redundant and high-powered actuator systems toward the next version of a fully tendon-driven musculoskeletal humanoid, which will be able to realize various flexible motions using whole body. The newly developed lower body has 44 actuators and each actuator can generate 25[kgf] muscle force continually. We propose the new design method of hollowing...
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