Abstract
Humanoid robot which can work in living space is required. Because daily chores or physical cares need various contacts, a whole body contact motion of humanoid is necessary. In this research, we develop a humanoid robot with whole body distributed tactic sensor. A tactile sensor for whole body motion should be easy to maintain because it is applied by an impact and shear force. So we make soft removable tactile skins for all links separately. To realize this, we use "cut-and-paste of tactile sensors". Finally we realize some whole body contact motions of an adult size humanoid robot.
