Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator
Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator
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DOI：
10.1109/humanoids.2012.6651491
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
Y. Nakanishi;Yuki Asano;Toyotaka Kozuki;H. Mizoguchi;Yotaro Motegi;M. Osada;Takuma Shirai;Junichi Urata-Ju
中科院分区：
文献类型：
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作者：
Y. Nakanishi;Yuki Asano;Toyotaka Kozuki;H. Mizoguchi;Yotaro Motegi;M. Osada;Takuma Shirai;Junichi Urata-Ju
我们已经开发和研究了肌肉骨骼类人。我们的目标是实现一个更像人类的人形机器人，作为一个真正的人类模拟器，它具有与人类相同的肌肉和关节结构，可以像人类一样做自然和动态的运动。特别是设计包含大量高强度肌肉的肌肉骨骼结构是非常具有挑战性的。现在，我们设计了新的全身肌肉骨骼人形机器人Kenshiro。本文介绍了这种新机器人的概念，并展示了我们的最新成果Kenshiro的轮廓，它是我们之前的机器人Kojiro的后续版本。
We have developed and studied musculoskeletal humanoids. Our goal is to realize a more human-like humanoid as a real human simulator, which has the same muscle and joint arrangements as human's and can do natural and dynamic motions as well as humans. Especially, it is very challenging to design musculoskeletal structure which can contain a large number of high powered muscles. Now, we design new fullbody musculoskeletal humanoid Kenshiro. This paper presents the concepts of this new robot and also shows the outline of our latest results Kenshiro, which is the succeeding version of our previous robot Kojiro.