Muscular-skeletal humanoid robot for body image construction

Humans are supposed to use body image representation for realizing adaptive behavior in dynamically changing environment. This paper describes a newly developed muscular-skeletal humanoid robot with local reflexes for approaching how the body structure and the local reflexes contribute to constructing body image from the constructivist viewpoint. The muscular-skeletal humanoid has human-like bone structure with a number of muscles each of which is equipped with proprioceptive sensors.