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Forceful and soft humanoid robots are expected to live with human and assist high load tasks. For realizing that, we need large motors and mechanisms. However, they occupy large spaces of humanoid's body. Therefore, smallness and high output ability are required for motor driver. We focus on cables of motors or sensors, and reduce them by placing daisy-chained motor driver boards at near site of corresponded...
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...
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