To design a robot with humanlike body structure, this paper presents a design methodology for upper limb of tendon driven system. The robots explained here is the upper limb of human mimetic musculoskeletal humanoid robot "Kenshiro". Kenshiro is designed based on human anatomy, and consists of muscles, bones, and joint structures to move flexibly and dynamically. Design methodology for such robots is not well established, therefore the paper describes how to design such an upper limb with some key mechanical design points that enables the implementations. To show that these mechanisms is effective we demonstrate the range of motion of Kenshiro, and pitching motion as an example of continuous motion using upper limb.
