Design concept of detail musculoskeletal humanoid &amp;#x201C;Kenshiro&amp;#x201D; - Toward a real human body musculoskeletal simulator

Nakanishi, Yoshinobu; Asano, Yuki; Kozuki, Toyotaka; Mizoguchi, Hironori; Motegi, Yotaro; Osada, Masahiko; Shirai, Tomoyuki; Urata, Junichi; Okada, Kei; Inaba, Masayuki

doi:10.1109/humanoids.2012.6651491

Cited by 66 publications

(25 citation statements)

References 13 publications

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“…Pneuborn-7II, -7III, -13,[25] CB 2 , [14] Diego-san [26], iCub, [29] and Roboy [28]) and adult-size robots (e.g. Kotaro, [46] Kojiro, [47] Kenshiro, [48] and ECCEROBOT [49]) have adopted varying degrees of human-like redundant DOFs. These robots are considered to be reasonable in design for two reasons.…”

Section: Human-like Redundant Dofsmentioning

confidence: 99%

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Ishihara¹,

Asada²

2015

Advanced Robotics

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Child robots have been used in a lot of studies on human-robot social/physical interaction because they are suitable for safe and casual experiments. However, providing many compliant joints and lifelike exteriors to enhance their interaction potential is difficult because of the limited space available inside their bodies. In this paper, we propose an upper body structure that consists of slider crank and parallel mechanisms for linear actuators and serial mechanisms for rotary actuators. Such combinations of several joint mechanisms efficiently utilize the body space; in total, 22 degrees of freedoms were realized in an upper body space equivalent to that of an 80cm tall child. A pneumatic drive system was adopted in order to fully verify the behavioral performance of the body mechanism. The proposed redundant and compact upper body mechanism can be a platform for testing the effectiveness of future exteriors for the little child android 'Affetto', which was developed in order to integrate several key characteristics for achieving advanced human-robot interaction.

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Section: Human-like Redundant Dofsmentioning

confidence: 99%

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Ishihara¹,

Asada²

2015

Advanced Robotics

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“…These researches have been applied in the ergonomic design of vehicle ingress / egress, door closing, break pedal, steering position, etc [2]. In recent years, a number of humanoid musculoskeletal systems have been built to mimic the human's neuromuscular control, such as ECCE by University of Zurich [3], Kenshiro by University of Tokyo [4], Lucy by Vrije Universiteit Brussel [5], etc. The basic understanding of muscle coordination is based on human motor control, which considers muscle control as a coordination of sensory inputs (e.g., vision) and motor outputs (e.g., muscles) by the human's central nervous system (CNS) [45].…”

Section: Introductionmentioning

confidence: 99%

“Load balance” control for a humanoid musculoskeletal arm in table tennis movement

Dong

Figueroa

Saddik

2015

Int. J. Control Autom. Syst.

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The aim of this paper is to propose a muscle control method for a humanoid musculoskeletal arm that mimics human muscle coordination from an engineering viewpoint. As muscle control is posed as a redundancy problem, the resulting muscle force corresponds to different desired control criteria (e.g., minimizing the total metabolic energy, minimizing muscle activity). In this research, the criterion we choose is "load balance", which is essential for reducing actuator demands on systems subject to repetitive and demanding tasks. In order to achieve a balanced force distribution throughout the muscles, we obtain a minimum-load muscle force by considering the acceleration contribution in both muscle and joint space. The orthogonal space of the minimum-load muscle force solution is designed to place the muscle force close to the midpoint of the muscle force limits. The proposed method is tested by tracking a table tennis movement of a real human subject. The results not only provide an explanation on the concepts of "minimum-load" and "balance-load", but also show that the proposed method has advantageous properties such as computational efficiency and stability.

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“…Thus, biologically inspired designs are particularly important for humanoid robots to perform versatile dynamic tasks. By developing and using such an actual musculoskeletal humanoid robot as a detail human body simulator in the real world, researchers can understand human motor function and human motor control better [5].…”

Section: Introductionmentioning

confidence: 99%

Design and control of a pneumatic musculoskeletal biped robot

Zang

Liu²,

Liu³

et al. 2016

THC

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Abstract. BACKGROUND: Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. OBJECTIVE: This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. METHODS: According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. RESULTS: Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. CONCLUSION: The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

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Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator

Cited by 66 publications

References 13 publications

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

“Load balance” control for a humanoid musculoskeletal arm in table tennis movement

Design and control of a pneumatic musculoskeletal biped robot

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