2017
DOI: 10.1126/scirobotics.aaq0899
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Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

Abstract: Many systems and mechanisms in the human body are not fully understood, such as the principles of muscle control, the sensory nervous system that connects the brain and the body, learning in the brain, and the human walking motion. To address this knowledge deficit, we propose a human mimetic humanoid with an unprecedented degree of anatomical fidelity to the human musculoskeletal structure. The fundamental concept underlying our design is to consider the human mechanism, which contrasts with the conventional … Show more

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Cited by 93 publications
(65 citation statements)
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“…Articulated spines based on bio-inspired designs are being used in robotics, with the aim of improving stability and maneuverability during locomotion, both in quadrupedal [113] and bipedal designs [114]. Current and foreseen applications of such robots include the biomechanical study of locomotion and its neural control [115], providing a physical framework for the implementation of artificial intelligence solutions [114], military and search-and-rescue missions, space exploration, and outdoor industrial inspection [116]. Recently, bio-inspired robots aimed at the detailed study of animal locomotion [117], including that of extinct species [118], were presented and are currently a subject of intense research.…”
Section: Discussion and Implications For Biomimeticsmentioning
confidence: 99%
“…Articulated spines based on bio-inspired designs are being used in robotics, with the aim of improving stability and maneuverability during locomotion, both in quadrupedal [113] and bipedal designs [114]. Current and foreseen applications of such robots include the biomechanical study of locomotion and its neural control [115], providing a physical framework for the implementation of artificial intelligence solutions [114], military and search-and-rescue missions, space exploration, and outdoor industrial inspection [116]. Recently, bio-inspired robots aimed at the detailed study of animal locomotion [117], including that of extinct species [118], were presented and are currently a subject of intense research.…”
Section: Discussion and Implications For Biomimeticsmentioning
confidence: 99%
“…The effect of a motor with a cable and a pulley is quite similar to a muscle and we use it. Some robots mimic biology in a more realistic way [14], [10] but they are too complex for this study.…”
Section: Bio-inspirationmentioning
confidence: 99%
“…In fact, this branch of robotics mainly comprises muscle models (actuators), skeletal systems (supporting structure), and methods for motion control and learning (control systems). Related work can roughly be divided into two types, namely, muscle dynamics modeling along with hardware design (Jäntsch et al, 2013; Kurumaya et al, 2016; Asano et al, 2017) and musculoskeletal robot control (Pennestrì et al, 2007; Jagodnik and van den Bogert, 2010; Tahara and Kino, 2010). Although most studies have been focused on the first type, the development of neuroscience has gradually increased the research on human-inspired control.…”
Section: Introductionmentioning
confidence: 99%