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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

We have developed and studied musculoskeletal humanoids. Our goal is to realize a more human-like humanoid as a real human simulator, which has the same muscle and joint arrangements as human's and can do natural and dynamic motions as well as humans. Especially, it is very challenging to design musculoskeletal structure which can contain a large number of high powered muscles. Now, we design new fullbody musculoskeletal humanoid Kenshiro. This paper presents the concepts of this new robot and also shows the outline of our latest results Kenshiro, which is the succeeding version of our previous robot Kojiro.

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We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screwhome mechanism is for locking knee joint. Four-linked linkage is for making humanlike motion. Furthermore, we confirmed those performances by three experiments.