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

Yuto Nakanishi, Yuki Asano, Toyotaka Kozuki, +7

EngineeringHuman ModellingKinesiologyReal Human SimulatorBiomechanics +16

Design Approach of Biologically-Inspired Musculoskeletal Humanoids

Yuto Nakanishi, Shigeki Ohta, Takuma Shirai, +11

International Journal of Advanced Robotic Systems

Robot KinematicsEngineeringMotor ControlBiomedical EngineeringKinesiology +18

A sensor-driver integrated muscle module with high-tension measurability and flexibility for tendon-driven robots

Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, +5

EngineeringMechanical EngineeringChemical ActuatorMotor ControlBiomedical Engineering +20

Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -

Toyotaka Kozuki, Hironori Mizoguchi, Yuki Asano, +6

Learning nonlinear muscle-joint state mapping toward geometric model-free tendon driven musculoskeletal robots

Soichi Ookubo, Yuki Asano, Toyotaka Kozuki, +3

Robot KinematicsEngineeringMotor ControlLearning ControlTorque Estimation +16

Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid

Yuya Nagamatsu, Takuma Shirai, Hiroto Suzuki, +3

Robot KinematicsEngineeringMechanical EngineeringMotor ControlAdvanced Motion Control +17

Skeletal structure with artificial perspiration for cooling by latent heat for musculoskeletal humanoid Kengoro

Toyotaka Kozuki, Toshinori Hirose, Takuma Shirai, +5

EngineeringMechanical EngineeringThermal TherapyAnatomyBiomedical Engineering +20

Whole body adapting behavior with muscle level stiffness control of tendon-driven multijoint robot

Takuma Shirai, Junichi Urata, Yuto Nakanishi, +2

Robot KinematicsEngineeringDexterous ManipulationMechanical EngineeringHumanlike Robot +22

Design of upper limb by adhesion of muscles and bones — Detail human mimetic musculoskeletal humanoid kenshiro

Toyotaka Kozuki, Yotaro Motegi, Takuma Shirai, +5

EngineeringMechanical EngineeringMotor ControlAnatomyUpper Limb +15

Design of powerful and flexible musculoskeletal arm by using nonlinear spring unit and electromagnetic clutch opening mechanism

Yuto Nakanishi, Nobuyuki Ito, Takuma Shirai, +6

Flexible Musculoskeletal ArmEngineeringNonlinear Spring UnitMechanical EngineeringKinesiology +19