Research on Whole-Body Tendon-Driven Humanoid

本研究旨在展示一种能够像人类一样在关节刚度和头部躯干形态上动态灵活控制全身类人机器人的方法。为了构建这样一个全新的类人系统，我们采用了肌肉-肌腱系统的结构进行全身设计，并在头部、躯干和身体的所有肢体中采用了多系统的拮抗肌肉型致动器单元。我们已经成功地建立了这种全身肌肉肌腱的人形原型，并开发了控制系统来显示灵活的行为。在三年的研究期间，我们根据新的设计开发了肌腱驱动单元，脊柱躯干，手臂，腿。研究结果为构建有脊椎的全身肌肉-肌腱类机器人提供了一种新的方法，可以通过在其身体结构中自适应地添加其他肌肉-肌腱驱动系统来增强它。总结如下。(1)实施整合张力的肌肉-肌腱执行器系统；位置传感器和有线运动系统(2)利用新型选择性激光烧结快速成型系统构建自由形状的脊髓和肋骨框架的身体部位(3)模仿人手的多指构建前臂(4)通过双目立体视觉系统和双目听觉系统基于注意控制头部运动(5)通过适应肌肉-肌腱系统的刚度来控制肌腱驱动的躯干系统的身体运动(6)构建具有(7)肌腱驱动类人机器人全身运动实验

This research aims showing a method to build a whole-body humanoid which can control its body dynamically flexible in the joint stiffness and the form of the head and the torso such as human does. In order to build such a new humanoid system, we adopted a structure of muscle-tendon system for whole body design and multiple systems of antagonistic mulscle-type actuator units into the head, the torso and all the limbs of the body. We have succeeded to build a prototype of such whole-body muscle-tendon humanoid and have developed control system to show flexible behaviors. In this research period of three years, we have develop the tendon-driven unit, the spined torso, the arms, the legs according to the new design. The research result presents a new approach with real experiments for building a spined whole-body mulscle-tendon humanoid so that we can reinforce it through adding another muscle-tendon actuator systems in its body structures adaptively. It is summariezed as follows.(1)Implemanting muscle-tendon actuator systems integrating tension, position sensors and wired motor system(2)Building body parts of spinal cord and ribs frame with free form shape using new rapid prototyping system of selective laser sintering(3)Building forearm with multiple fingers imitating human hand(4)Controlling the head motion based on the attention via binocular stereo vision system and binocular hearing system(5)Body motion control for tendon-driven torso system through adapting the stiffness in muscle-tendon systems(6)Building leg subsystem that has the reinforcement mechanisms of extendable mulscle-systems(7)Experiments of whole body motions of the tendon-driven humanoid