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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...
In order for humanoid robots to behave with soft contacts among humans, whole-body tactile sensing function is indispensable. For enclosing whole-body regions of a humanoid, softness and the stretchable property is necessary especially for the regions around joints. Although there are some studies to realize a whole-body enclosing-type tactile sensing exterior so far, most of them have difficulties...
In order for robots to be able to assist humans at a very close distance, robots should allow contacts occurred at many places and deal with them. For realizing such functions, robots should have whole-body soft sensor exterior for preparing contacts against almost every body parts since it is difficult to limit where to be touched from humans. Although several groups have developed humanoid type...
In some important robotic human daily life support applications, such as housework or nursing care, soft sensor exterior is needed for allowing close contacts against humans or environments. Although there are many studies on tactile sensing elements themselves and some of them realize the mechanical softness of the element, most of their studies just propose their detection theory with their sensor...
Embryonic stem (ES) cells and induced pluripotent stem (iPS) cells represent a renewable cellular resources for regenerative therapies. Here, we try to differentiate ES cells to paraxial mesodermal progenitors cells (PMPs), which give rise to osteogenic and chondrogenic progenitors and myogenic progenitors without fetal calf serum. Here, we demonstrate the methods for inducing paraxial mesodermal...
In this paper, a ldquofleshrdquo of a humanoid robot with multisensory superficial sense is described. In order for a robot to behave in contact with an environment and people, it is necessary to have rich superficial sense. We have developed a humanoid robot with thick soft cover s with three-axis force/torque sensors inside the covers. The thick cover configuration enables holding multiple kinds...
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.
In order for humanoids to be able to have close interactions with humans or environments using whole body contacts, development of humanoids with soft sensor flesh is one of the key issues. Therefore we have been developed dasiamacrapsila, a humanoid with soft sensor flesh, and it can sense distributed 3D force directions during interaction behavior with humans or environments. However, development...
We have been promoting a project of musculoskeletal humanoids. The project aims at the long-term goal of human-symbiotic robots as well as the mid-term goal of necessary design and control concepts for musculoskeletal robots. This paper presents the concepts and aim of the project and also shows the outline of our latest results about development of new musculoskeletal humanoid Kojiro, which is the...
In this paper, the development of a robot which has "flesh" made of soft polyurethane foam is presented. In order for a robot to behave in contact with an environment, people and itself, it is necessary to have not only rigid bone but also soft flesh. We developed a small humanoid robot "macra" which has thick soft flesh with distributed tactile sensors. A comparative discussion...
Shape-memory alloy(SMA) is a suitable actuator for a micro mobile robot due to its size and weight. However, length of SMA actuators is known to be nonlinear and hysteretic. We can control SMA's shape analogously to its electrical resistance. This paper presents a platform to construct high degree of freedom robots with tendons of SMA actuators. We incorporate coil shape SMA as variable length tendons...
We are trying to develop an innovative humanoid which learns from the structure of a human shoulder, especially the bladebone and collarbone. We consider that the bladebone-collarbone structures have the following merits, l)wide range of movement, 2)having the shoulder structure built on to the outside of the chest, allowing space for a lot of parts inside the chest, 3) flexible shoulder like humans...
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...
We aim to realize a humanoid system which can do natural motions like human. Pedaling a cycle is a very essential motion including many problems for a humanoid system, such as mutual interaction with environments, optimization of load distribution and so on. We insist that a humanoid should have more redundancy, flexibility and complexity to solve these problems. But, the more redundant a humanoid's...
Aiming at opening up a new stage of humanoid robotics, we have been studying on the mechanically soft structure for humanoids and have developed a full-body muscle-driven flexible-spine humanoid robots. In this paper, we discuss body structure of humanoids, describing the advantages of musculoskeletal flexible body and briefly introducing the previous works on constructing hardware and software of...
The idea of automatic behavior modification that runs in parallel with the main behavior generation system is important in order to adapt to many unexpected changes that robots are exposed. Against some of the unexpected changes, robots have to decide whether they stop doing the current task and search for the changes or ignore the changes. By monitoring causality between their sensors & actions...
Abstract We report a case of adjacent intracranial tumours: malignant fibrous histiocytoma (MFH) and meningioma. Thallium-201 single-photon emission computed tomography demonstrated different thallium kinetics between the tumours (slow washout from the MFH and rapid clearance in the meningioma) and could be said to have been useful for preoperative histological estimation.
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