抄録
We have been developping musculo-skeletal humanoid, which has viscoelastic element throughout the body. However, we weren't able to change the stiffness of joints because we have mainly used linear spring and silicon rubber as viscoelastic element. In this paper, we designed the forearm of musculo-skeletal humanoid 'kojiro'. By embedding nonlinear spring in the forearm, we enabled the joints of elbow and wrist to change its stiffness.
