Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator

摘要

We have developed and studied musculoskeletal humanoids. Our goal is to realize a more human-like humanoid as a real human simulator, which has the same muscle and joint arrangements as human's and can do natural and dynamic motions as well as humans. Especially, it is very challenging to design musculoskeletal structure which can contain a large number of high powered muscles. Now, we design new fullbody musculoskeletal humanoid Kenshiro. This paper presents the concepts of this new robot and also shows the outline of our latest results Kenshiro, which is the succeeding version of our previous robot Kojiro.