We have been promoting a project of musculoskeletal humanoids. The aims at the long-term goal human-symbiotic robots as well mid-term necessary design and control concepts for robots. This paper presents aim also shows outline our latest results about development new humanoid Kojiro, which is succeeding version previous Kotaro.

This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications advantages Kotaro include muscle-driven endoskeletal structure, multiple degrees freedom, variable physical softness, multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts many sensors including eyes, ears, whole-body tactile sensors, so on. These characteristics would achieve flexible body, litheness...

In order to realize more natural and various motions like humans, humanlike musculoskeletal tendon-driven humanoids have been studied. Especially, it is very challenging design body structure which consists of complicated bones, redundant powerful flexible muscles, large number distributed sensors. addition, reveal intelligence manage these structure. This paper sums up life-sized Kenta, Kotaro, Kenzoh Kenshiro we developed so far, describes key technologies develop control robots.

The anthropomorphic body form is a complex articulated system of links/limbs and joints, simultaneously redundant underactuated, capable wide range sophisticated movement. human its movement have long been topic study in physiology, anatomy, biomechanics, neuroscience served as inspiration for humanoid robot design control. This survey paper reviews the literature on robotics research using principles an inspiration, at both control levels. Next, modeling, motion analysis, synthesis...

We are trying to realize a humanoid which has flexibility. If humanoids have flexible structure, safety and posture variety can be achieved. focus on the role of human spine muscle-driven system. By having spine, will many degrees freedom postures. driving joints by tension-controllable tendons, flexibility controlled. developed whole-body tendon-driven flexible-spine named "Kenta". This paper describes design control Kenta, focusing spine. The consists ten joints, vertebrae rubber disks,...

We describe here our design and implementation of a cyborg insect, called CameraRoach, with onboard camera feedback that can be navigated via remote control providing first-person view. The pack is mounted on the Madagascar hissing cockroach, which small enough to fit into crevices but also carry printed circuit boards power, communication, sensor components (visual camera). For navigating we implemented unique electronic backpack neural stimulator, allows cockroach maneuvered desired path...

High physical ability of humanoid robots is desired for application to nursing care. Light and powerful actuators are required realize the high-power performance. In this paper, we propose a method bring out maximum performance electric motors aggressively. The technique motor core temperature estimation control improves power dramatically but safely without burnout. We have developed high driver modules proposed equipped them into our robot prototype jumping robot. High-power experiments...

Abstract In this paper, the development of a robot which has flexible spine is presented. By embedding multi-d.o.f. soft structure into body as spine, can increase its ability to absorb shock and work in various environment such narrow places. As result these abilities, expand opportunity human environment. Moreover, motion could be more natural. The developed full-body human-form five-jointed spine. Each joint (vertebra) 3 d.o.f. Between each vertebrae 'disk' made silicone rubber....

We are trying to create an innovative humanoid which has increased flexibility by imitating the structure of a human shoulder, especially shoulder blade. designed flexible for muscle-driven robot following merits, 1) wide range movement and like humans, 2) having built on outside chest, allowing space lot parts inside chest. developed prototype named "Blade" musculo-skeletal torso with blade, driven motor-actuated tendons. This paper describes advantages development some experiments showing...

In this paper we present a new method for picking up dishes based on active groping. Though bird's eye view is commonly used to recognize dishes, tends produce errors in the presence of large occlusion, A multisensory robot hand can be kitchen environment probe and grasp that are placed close each other. sensing an effective method, it difficult dish globally by because locality measurement. To solve difficulty, propose aquire geometric information about tracing their surface. We demonstrate...

A method of giving intelligence to control robots by human navigations is one appropriate solution respond a lot unforeseeable situations, and making movement complicated in contact condition with surroundings not easy. In this research, bilateral wearable device using stiffness adjustable muscle actuator modules developed order robots, feel external force teach motion that on surroundings. For an experiment it was realized maneuvering musculo-skeletal humanoid, could feedback humanoid's...

This paper describes analysis and design criteria of the 1-Joint Spring-Motor Coupling System (SMCS). A system including series elastic elements shows vibrational responses in velocity space, our concept is to use peak for motions that need explosive power. By tuning parameters, we can obtain instantaneously higher than without any spring. We constructed a mathematical model SMCS (including motor electrical properties) confirmed increasing effect on by numerical analyses real experiments....

The development of a robot which has flexible spine is presented. By embedding multi-DOF (degree freedom) soft structure into body as spine, the can increase its ability to absorb shock and work in various environments such narrow places or human fields, motion could be more natural. developed full-body human-form five-jointed spine. Each joint (vertebra) 3 DOFs. Between each two vertebrae "disk" made silicone rubber. controlled by eight tendons, whose tensions using tension-sensors locally...

Aiming at opening up a new stage of humanoid robotics, we have been studying on the mechanically soft structure for humanoids and developed full-body muscle-driven flexible-spine robots. In this paper, discuss body humanoids, describing advantages musculoskeletal flexible briefly introducing previous works constructing hardware software spine This paper also presents design development novel named Kotaro

Humanoid robots are still in a process of the evolution. We trying to develop next-generation which have safety, flexibility and multiplicity uses. A shoulder structure is one keystone, because it controls arms end effectors direct contact with humans daily life environments. designed new following scapula-collarbone for muscle-driven humanoid robot named ldquoKojirordquo (Fig. 1)[1]. consider that structures merits, 1)wide range movement, 2)flexible like humans, 3)safety from driving...

We propose a concept of reinforceable-muscle humanoid with hyper parallel muscle-tendon systems. By the facilitation changing assignment actuators, we can easily strengthen specific part robot body, while arrangement actuators current robots is quite difficult. developing muscle units in each which motor and sensors are integrated, by adopting musculo-skeletal structure, rearrangeability muscles has been realized. This paper describes concept, prototype design implementation reinforceable...

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 realize largely bending/extending while standing using spine hip joints of a fullbody humanoid, which has complicated body like human, such as over 90 muscles about 60 DOFs. And propose generate motions control in order keep during its motion. Furthermore, confirmed robot could bend/extend coordinately by some experiments.

The main characteristics of service robots are their human-centered working environment and non-expert users. Therefore, need to exhibit human robot interaction that lets users feel comfortable in order for them accept these at home. In this research, we propose a concept kitchen assistant supporting people completing stressful cooking tasks. tasks study also verified gain the understanding applicability wider sense. For proposed prototype is constructed which consists arm control device Myo...

Shape-memory alloy(SMA) is a suitable actuator for micro mobile robot due to its size and weight. However, length of SMA actuators known be nonlinear hysteretic. We can control SMA's shape analogously electrical resistance. This paper presents platform construct high degree freedom robots with tendons actuators. incorporate coil as variable tendon-driven robots. By controlling resistance tendons, we posture the structure in model-based method. A method resolve from given by using model...

Many humanoids have been developed, but more complicated and flexible must be in order to realize natural various motions like humans. However, it is difficult measure directly joint posture the multi-dofs of such robots (e.g. a hip spherical joint) because its structure. This paper describes an estimation method for tendon-driven postures these joints, only based on information muscles' length relative displacement data during joints movement. We regard this problem as pattern matching...

In this paper, a second generation remote-brained humanoid robot is presented which developed for research on whole body action. Humanoid robots are important as platform the integration of techniques and algorithms acquired from manipulators, legged so on. And they have new problems such how to acquire, memorize, select carry out various motions use their bodies efficiently. order do these problems, good body, has enough performance walking getting up when it falls down necessary. At same...