Research on Whole-Body Tendon-Driven Humanoid

本研究的目的是提供一种方法，建立一个可以像人类一样在关节刚度和头部和躯干的形状上灵活地动态控制其身体的全身仿人。为了构建这样一个新的仿人系统，我们采用了肌肉-肌腱系统的结构进行全身设计，并在头部、躯干和全身四肢中加入了多个系统的对抗性多面体执行单元。我们成功地构建了这种全身肌腱类人形的原型，并开发了显示灵活行为的控制系统。在这三年的研究期间，我们根据新的设计开发了肌腱驱动单元、脊柱躯干、手臂、腿。该研究结果为构建具有脊椎结构的全身肌腱类人形提供了一种新的途径，通过在其身体结构中自适应地增加另一个肌肉-肌腱致动器系统来对其进行加固。(1)实现了张力、位置传感器和有线电机系统相结合的肌腱执行器系统(2)利用新型的选择性激光烧结快速成型系统构建了具有自由形状的脊髓和肋骨骨架的身体部位(3)利用多指模拟人类的手建立前臂(4)通过双目立体视觉系统和双眼听觉系统控制基于注意力的头部运动(5)通过适应肌腱系统的刚度来实现肌腱驱动躯干系统的身体运动控制(6)构建具有可伸缩模板系统增强机制的腿部子系统(7)肌腱驱动仿人的全身运动实验

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