An advanced musculoskeletal humanoid Kojiro

Mizuuchi, Ikuo; Nakanishi, Yoshinobu; Sodeyama, Yoshinao; Namiki, Yuta; Nishino, Tokuzo; Muramatsu, Naoya; Urata, Junichi; Hongo, Kazuo; Yoshikai, Tomoaki; Inaba, Masayuki

doi:10.1109/ichr.2007.4813883

Cited by 139 publications

(51 citation statements)

References 11 publications

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“…The first approach involves building full body humanoids which mimick human gait with extensive control utilizing the latest technological developments and advances in material science [6,7]. In contrast, the other approach involves the development of robots that are capable of walking on legs with reduced mechanical complexity and little or no control [8,9].…”

Section: Introductionmentioning

confidence: 99%

Robots in human biomechanics—a study on ankle push-off in walking

Renjewski

Seyfarth

2012

Bioinspir. Biomim.

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In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

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Section: Introductionmentioning

confidence: 99%

Robots in human biomechanics—a study on ankle push-off in walking

Renjewski

Seyfarth

2012

Bioinspir. Biomim.

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“…Biologically inspired neck structures with 3-7 cervical vertebrae and large number of DOFs -movements about the yaw, pitch and roll axes, have Kenta [37], Kenji [38], Kotaro [39], Kojiro [40], Kenzoh [41], Kenshiro [42] and Kengoro [43].Each vertebra has points for attaching tendons which enables independent motion of each joint. Between each two vertebraethere isviscoelastic element -disc of silicone rubber and tension springs -ligaments.…”

Section: State Of the Artmentioning

confidence: 99%

Assistive humanoid robot MARKO: development of the neck mechanism

et al. 2017

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Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.

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“…Before moving on to the description of the project, we should note the many similarities between our work on the anthropomimetic robots CRONOS and ECCEROBOT, and the work at the University of Tokyo on the musculoskeletal robots Kenta, Kotaro and Kojiro [8,9,10]. Although there are some differences in motivation and scope (for example, the musculoskeletal work is somewhat less influenced by biomimetic forms, and the robots have legs) the two lines of research are dealing with common problems, and the technical and computational solutions are essentially complementary.…”

Section: Introductionmentioning

confidence: 99%

Anthropomimetic Robots: Concept, Construction and Modelling

Diamond

Knight

Devereux

et al. 2012

International Journal of Advanced Robotic Systems

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An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human-like jointed skeleton moved by compliant musclelike actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand-moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics-based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

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An advanced musculoskeletal humanoid Kojiro

Cited by 139 publications

References 11 publications

Robots in human biomechanics—a study on ankle push-off in walking

Robots in human biomechanics—a study on ankle push-off in walking

Assistive humanoid robot MARKO: development of the neck mechanism

Anthropomimetic Robots: Concept, Construction and Modelling

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