Abstract
Humanoid robots with a large number of compliant joints with wide ranges of motion is durable, because they can avoid postures that may destroy their surroundings and their own bodies. However, it is difficult to equip robots with such joints similar to humans due to space limitation. For this problem, a child type robot " Affetto " has been developed and a large number of compliant joints has been realized in its small body by using both rotary and linear pneumatic cylinders. However, particularly in its shoulder, ranges of motion is not sufficient to show several human-like postures. In this paper, we aim at the development of compact shoulder mechanism having five degree of freedom and wide range of motion by using air cylinders.
