Development of musculoskeletal humanoid kenzoh with mechanical compliance changeable tendons by nonlinear spring unit

Abstract

We have developed and studied musculoskeletal humanoids. Our goal is to achieve more human-like humanoids which can do natural and dynamic motions as well as humans. Especially, joint DOFs redundancy, mechanical joint compliance and great joint generating power are very important for humanlike dynamic motions and tasks, such as running, jumping, landing, throwing/kicking/catching a ball, and so on. This paper presents the concepts and aim of this project and also shows the outline of our latest results about development of new musculoskeletal humanoid Kenzoh, which is the succeeding version of our previous Kojiro.