抄録
It is very significant problem to achieve the dynamic flexibility to power and the geometrical flexibility that can take free posture for the robot that works with human. We developed the musculoskeletal flexibility humanoid "Kenzoh" that has multiple DOFs and nonlinear spring element. Arms are the main parts to interact with environments, so arms require the geometric flexibility to reach a object smoothly in a variety of arm posture. So we developed the shoulder joint which consists of the line-contact scapulothoracic joint that has the cylindrical throx, the flat scapula and the clavicle and the scapulohumeral joint. This shoulder joint realizes the the wide movability of arm, designs the suitable arrangements of the actuators to move the arms, and distributes the shock. In this paper, we explain the design principles of the proposed shoulder joint mechanism, and validate the flexibility of scapula on the behavior.
