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Development of musculoskeletal humanoid Kotaro

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12 Author(s)
Mizuuchi, I. ; Dept. of Mechano-Informatics, Tokyo Univ. ; Yoshikai, T. ; Sodeyama, Y. ; Nakanishi, Y.
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This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts of many sensors including eyes, ears, and whole-body tactile sensors, and so on. These characteristics would achieve a flexible body, litheness of motions, safety, and adaptability and applicability to diverse tasks which would very often appear in human's daily lives

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006