Design Approach of Biologically-Inspired Musculoskeletal Humanoids

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

[学科分类] 自动化工程

[关键词] Musculo-Skeletal Humanoid;Bio-Inspired Robotics;Body Design Methodology;Behavior Intelligence