実世界での環境接触動作に向けた人体模倣筋骨格ヒューマノイド腱悟郎の開発

抄録

We have developed human mimetic musculoskeletal humanoids from the view point of human-inspired design approach. Kengoro is our latest version of musculoskeletal humanoid and designed to achieve physically interactive actions in real world. This paper presents the design concepts, body characteristics and motion achievement of Kengoro. In the design process of Kengoro, we newly adopted multi-functioned skeletal structures and sensor-driver integrated muscle modules. For humanoids that have human-like body proportions, it is effective to add multi-functionality to body elements. The muscle module enables to control muscles flexibly for environmental contact. In order to demonstrate effectiveness of these body structures, we conducted several experiments by Kengoro.