Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -

Toyotaka Kozuki, H. Mizoguchi, Yuki Asano, M. Osada, Takuma Shirai, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba
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引用次数: 39

Abstract

To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper describes how to design such an upper limb and proposes the key mechanical design points, which is “rib surface thorax”, “muscle cushion”, “planar muscle”, and “open type ball joint”. To show that these mechanisms is effective in making a musculoskeletal humanoid robot, we examine the motion range of the robot. One of our goals is to enable robots to do the same movements as humans do through mimicking the human body structure, finding some important elements of human nature. This robots explained in this paper is the prototype for a new life size robot “Kenshiro” project.
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仿人肌肉骨骼型人形机器人Kenshiro的胸肩设计方法——一种具有肋骨状表面的胸腔结构
为了设计具有仿人身体结构的机器人,本文提出了一种基于肌腱驱动系统的仿人上肢设计方法。我们基于解剖学的知识,为肌肉骨骼类人机器人设计了类似胸腔的上肢和胸腔。机器人以人体为基础,由肌肉、骨骼和关节结构组成,具有灵活、动态的运动能力。本文阐述了如何设计这样的上肢,并提出了“肋面胸”、“肌垫”、“平面肌”、“开放式球关节”的机械设计要点。为了证明这些机制在制造肌肉骨骼类人机器人中是有效的,我们检查了机器人的运动范围。我们的目标之一是通过模仿人体结构,找到一些人性的重要元素,使机器人能够做和人类一样的动作。本文介绍的这个机器人是一个新的真人大小的机器人“Kenshiro”项目的原型。
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