Realization of Standing of the Musculoskeletal Humanoid Kotaro by Reinforcing Muscles

Autor:	Y. Namiki, Tomohiro Nishino, Yoshinao Sodeyama, Yuto Nakanishi, Masayuki Inaba, T. Yoshikai, J. Urata, Ikuo Mizuuchi
Rok vydání:	2006
Předmět:	Robot kinematics Social robot Computer science Human–computer interaction law Robot Mobile robot Motion control Robot end effector Humanoid robot Simulation Robot control law.invention
Zdroj:	Humanoids
DOI:	10.1109/ichr.2006.321381
Popis:	We have been studying on how to realize robots that have physical flexibility and redundant multiple degrees of freedom. How to control the machine is still a problem and even maintaining standing was difficult. After joining the Prototype Robot Exhibition at the EXPO'05 with our novel musculoskeletal humanoid `Kotaro,' we have made various improvements to the robot. This paper describes the improvements, and presents some experiments. The highlight is realization of standing itself, based on a concept of `reinforceable muscle humanoid,' which we have proposed.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ed21a467decfcbb2b1788d2d40ff861d https://doi.org/10.1109/ichr.2006.321381 Zobrazit plný text záznamu