Building Spined Muscle-Tendon Humanoid

Inaba, Masayuki; Mizuuchi, Ikuo; Tajima, Ryosuke; Yoshikai, Tomoaki; Sato, Daisuke; Nagashima, Koichi; Inoue, H.

doi:10.1007/3-540-36460-9_8

Cited by 30 publications

(17 citation statements)

References 2 publications

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“…I2C interface is built into many microprocessors, so it is easy to downsize network nodes. Therefore, network nodes which communicate through I2C is adopted by small-size humanoid robots that have strong constraint on size [2], [3], [4]. Speed of CAN is up to 1[Mbps] and it is comparatively slow.…”

Section: Onbody Networkmentioning

confidence: 99%

Distributed Control System of Humanoid Robots based on Real-time Ethernet

Kanehiro

Ishiwata²,

Saito³

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this.

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Section: Onbody Networkmentioning

confidence: 99%

Distributed Control System of Humanoid Robots based on Real-time Ethernet

Kanehiro

Ishiwata²,

Saito³

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Based on these standpoints, the fully tendon-driven redundant humanoids, which have spine structures like a human body, have been developed and studied on how to control such a complicated body through the relationship between actuator outputs and sensor inputs [4], [5], [6]. And also, we actually have developed such humanoids as Kojiro [7], which has both redundant and powerful actuators in order to achieve fullbody motions, and we managed to let Kojiro walk using simple reflex [8].…”

Section: Introductionmentioning

confidence: 99%

Design of powerful and flexible musculoskeletal arm by using nonlinear spring unit and electromagnetic clutch opening mechanism

Nakanishi

Ito

Shirai

et al. 2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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We have been developed and studied musculoskeletal humanoids. Our next motivation is to achieve more human-like humanoids which can do natural and dynamic motions as well as humans. We newly designed musculoskeletal tendon-driven arm, which can achieve humanlike body structure, flexibility of joints and great power of joints for this motivation. This paper describes how to design such an arm and proposes the key mechanical design points, which is compact nonlinear spring unit and winding pulley equipped with electromagnetic clutch releasing mechanism. To show that these mechanisms improve greatly joint angular speed, we developed simple testing tendon-drive arm with these mechanism and did verification experiments. Finally, we present lifesized musculoskeletal arm using these mechanisms and some demonstrations.

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“…Biologically inspired wrist structures with 1 joint and 2-3 DOFs -movements about the yaw and pitch axes or yaw, roll and pitch axes, are found in Kenta [34], Kenji [35], Kotaro [36], Kojiro [37], Kenzoh [38], Kenshiro [39] and Kengoro [40]. The wrist of these robots consists of human-like bones and artificial muscles that are based on nonlinear spring units -NST, which has a nonlinear ratio between the tension and the spring constant of the tendon.…”

Section: State Of the Artmentioning

confidence: 99%