Proceedings ArticleDOI
The design and control of the flexible spine of a fully tendon-driven humanoid "Kenta"
Ikuo Mizuuchi,Ryosuke Tajima,T. Yoshikai,Sato Daisuke,Koichi Nagashima,Masayuki Inaba,Yasuo Kuniyoshi,Hirochika Inoue +7 more
- Vol. 3, pp 2527-2532
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TLDR
This paper describes the design and control of Kenta, a whole-body tendon-driven flexible-spine humanoid named "Kenta" that consists of ten joints, vertebrae and rubber disks, ribs, and forty muscles equipped with tension sensors.Abstract:
We are trying to realize a humanoid which has flexibility. If humanoids have a flexible structure, safety and posture variety can be achieved. We focus on the role of the human spine and muscle-driven system. By having a flexible spine, a humanoid will have safety and many degrees of freedom to realize a variety of postures. By driving joints by tension-controllable tendons, flexibility of the joints can be controlled. We developed a whole-body tendon-driven flexible-spine humanoid named "Kenta". This paper describes the design and control of Kenta, focusing on the design of the spine. The spine consists of ten joints, vertebrae and rubber disks, ribs, and forty muscles equipped with tension sensors. We also propose control methods of the spine. One uses a geometric virtual robot model and another is based on direct teaching. Using these methods, some whole-body motions are presented.read more
Citations
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Proceedings ArticleDOI
The DLR hand arm system
Markus Grebenstein,Alin Albu-Schaffer,Thomas Bahls,Maxime Chalon,Oliver Eiberger,Werner Friedl,Robin Gruber,Sami Haddadin,Ulrich Hagn,Robert Haslinger,Hannes Höppner,Stefan Jörg,Mathias Nickl,Alexander Nothhelfer,Florian Petit,Josef Reill,N. Seitz,Thomas Wimbock,Sebastian I. Wolf,Tilo Wüsthoff,Gerd Hirzinger +20 more
TL;DR: An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR and a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.
Journal ArticleDOI
iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research
Nikolaos G. Tsagarakis,Giorgio Metta,Giulio Sandini,David Vernon,Ricardo Beira,Francesco Becchi,Ludovic Righetti,José Santos-Victor,Auke Jan Ijspeert,Maria Chiara Carrozza,Darwin G. Caldwell +10 more
TL;DR: The design of the mechanisms and structures forming the basic 'body' of the iCub are described and kinematic structures dynamic design criteria, actuator specification and selection, and detailed mechanical and electronic design are considered.
Journal ArticleDOI
The hand of the DLR Hand Arm System: Designed for interaction
Markus Grebenstein,Maxime Chalon,Werner Friedl,Sami Haddadin,Thomas Wimbock,Gerd Hirzinger,Roland Siegwart +6 more
TL;DR: The hyper-actuated hand, very close to its human archetype in terms of size, weight, and, in particular, grasping performance, robustness, and dynamics, is presented and will be the basis of a simplified hand that would still perform daily manipulation tasks.
Proceedings ArticleDOI
The design of the lower body of the compliant humanoid robot “cCub”
TL;DR: The mechanical realization of the lower body developed for the “cCub ”humanoid robot, a derivative of the original “iCub”, which has passive compliance in the major joints of the legs and includes other significant updates over the original prototype such as full joint state sensing including joint torque sensing and improved range of motion and torque capabilities.
Proceedings ArticleDOI
Development of musculoskeletal humanoid Kotaro
Ikuo Mizuuchi,T. Yoshikai,Yoshinao Sodeyama,Yuto Nakanishi,A. Miyadera,Takashi Yamamoto,T. Niemela,Marika Hayashi,J. Urata,Y. Namiki,T. Nishino,Masayuki Inaba +11 more
TL;DR: 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.
References
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