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Research on Whole-Body Tendon-Driven Humanoid

Research Project

Project/Area Number 13450097
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Tokyo

Principal Investigator

INABA Masayuki  The University of Tokyo, Interfaculty Initiative in Information Studies, Professor, 大学院・情報学環, 教授 (50184726)

Co-Investigator(Kenkyū-buntansha) OKADA Kei  The University of Tokyo, Department of Mechano-Informatics, Research Associate, 大学院・情報理工学系研究科, 科学技術振興特任教員 (70359652)
MIZUUCHI Ikuo  The University of Tokyo, Department of Mechano-Informatics, Research Associate, 大学院・情報理工学系研究科, 科学技術振興特任教員 (60359651)
KUNIYOSHI Yasuo  The University of Tokyo, Department of Mechano-Informatics, Associate Professor, 大学院・情報理工学系研究科, 助教授 (10333444)
Project Period (FY) 2001 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥7,400,000 (Direct Cost: ¥7,400,000)
Fiscal Year 2003: ¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 2002: ¥4,200,000 (Direct Cost: ¥4,200,000)
Keywordsrobot / humanoid / tendon-driven / whole-body behavior / selective laser sintering / flexible torso / spinal cord / control module / 紛体積層成型法
Research Abstract

This research aims showing a method to build a whole-body humanoid which can control its body dynamically flexible in the joint stiffness and the form of the head and the torso such as human does. In order to build such a new humanoid system, we adopted a structure of muscle-tendon system for whole body design and multiple systems of antagonistic mulscle-type actuator units into the head, the torso and all the limbs of the body. We have succeeded to build a prototype of such whole-body muscle-tendon humanoid and have developed control system to show flexible behaviors. In this research period of three years, we have develop the tendon-driven unit, the spined torso, the arms, the legs according to the new design. The research result presents a new approach with real experiments for building a spined whole-body mulscle-tendon humanoid so that we can reinforce it through adding another muscle-tendon actuator systems in its body structures adaptively. It is summariezed as follows.
(1)Implemanting muscle-tendon actuator systems integrating tension, position sensors and wired motor system
(2)Building body parts of spinal cord and ribs frame with free form shape using new rapid prototyping system of selective laser sintering
(3)Building forearm with multiple fingers imitating human hand
(4)Controlling the head motion based on the attention via binocular stereo vision system and binocular hearing system
(5)Body motion control for tendon-driven torso system through adapting the stiffness in muscle-tendon systems
(6)Building leg subsystem that has the reinforcement mechanisms of extendable mulscle-systems
(7)Experiments of whole body motions of the tendon-driven humanoid

Report

(4 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • 2001 Annual Research Report
  • Research Products

    (29 results)

All Other

All Publications (29 results)

  • [Publications] 稲葉 雅幸: "脊椎を持つ全身型メカトロニック行動体"日本ロボット学会誌. 19・7. 822-825 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 稲葉 雅幸: "ロボット知能のアーキテクチャ"日本ロボット学会誌. 20・5. 470-473 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima, H.Inoue: "Building Spined Mustle-Tendon Humanoid"Robotics Research. 10. 113-130 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Ikuo Mizuuchi, Shigenori Yoshida, Masayuki Inaba, Hirochika Inoue: "The Development and Control of the Flexible-Spine of a Human-Form Robot"Advanced Robotics. 17-2. 179-196 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Yoshikai, I.Mizuuchi, D.Sato, S.Yoshida, M.Inaba, H.Inoue: "Behavior System Design and Implementation in Spined Musle-Tendon Humanoid 'Kenta'"Journal of Robotics and Mechatronics. 15-2. 143-152 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] M.Inaba: "Whole-body Mechatronic Robot with Spine"Journal of Robotics Society of Japan. Vol.19, No.7. 822-825 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] M.Inaba: "Architecture of Intelligent Robot"Journal of Robotics Society of Japan. Vol.20, No.5. 470-473 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima, H.Inoue: "Budding Spined Mustle-Tendon Humanoid"Robotics Research. 10. 113-130 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Ikuo Mizuuchi, Shigenori Yoshida, Masayuki Inaba, Hirochika Inoue: "The Development and Control of the Flexible-Spine of a Human-Form Robot"Advanced Robotics. Vol.17, No.2. 179-196 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Yoshikai, I.Mizuuchi, D.Sato, S.Yoshida, M.Inaba, H.Inoue: "Behavior System Design and Implementation in Spined Musle-Tendon Humanoid 'Kenta'"Journal of Robotics and Mechatronics. Vol.15, No.2. 143-152 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Masayuki Inaba, Ikuo Mizuuchi, et al.: "Building Spined Muscle-Tendon Humanoid"Robotics Research : The Tenth International Symposium. 113-130 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Ikuo Mizuuchi, Shigenori Yoshida, Masayuki Inaba, Hirochika Inoue: "The Development and Control of the Flexible-Spine of a Human-Form Robot"Advanced Robotics. 17・2. 179-196 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] T.Yoshikai, I.Mizuuchi, D.Sato, S.Yoshida, M.Inaba, H.Inoue: "Behavior System Design and Implementation in Spined Musle-Tendon Humanoid 'Kenta'"Journal of Robotics and Mechatronics. 15・2. 143-152 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Ikuo Mizuuchi, Tomoaki Yoshikai, Daisuke Sato, Shigenori Yoshida, Masayuki Inaba, Hirochika Inoue: "Behavior Developing Environment for the Large-DOF Muscle-Driven Humanoid Equipped with Numerous Sensors"Proceedings of the 2003 IEEE International Conference on Robotics & Automation. 1940-1945 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Tomoaki Yoshikai, Shigenori Yoshida, Ikuo Mizuuchi, Daisuke Sato, Masayuki Inaba, Hirochika Inoue: "Multi-sensor guided behaviors in whole body tendon-driven humanoid Kenta"Proceedings of the 2003 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems(MFI). 9-14 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 水内郁夫, 和井田博則, 中西雄飛, 吉海智晃, 稲葉雅幸, 井上博允: "筋の追加・配置変更が容易な人間規範筋骨格型ロボットの腰脚部"第21回日本ロボット学会学術講演会講演論文集. 1C29 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 稲葉 雅幸: "ロボット知能のアーキテクチャ"日本ロボット学会学会誌. 20・5. 470-473 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] I.Mizuuchi, R.Tajima, T.Yoshikai, D.Sato, K.Nagashima, M.Inaba, Y.Kuniyoshi, H.Inoue: "The Design, Control of the Flexible Spine of a Fully Tendon-Driven Humanoid ""Kenta""Proc. of International Conference on Intelligent Robots and Systems (IROS'02). 2527-2532 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 吉海智晃, 佐藤大輔, 但馬竜介, 水内郁夫, 國吉康夫, 稲葉雅幸, 井上博允: "ヒューマノイド腱太における随意・反射・状況反応行動の統合による適応性の実現"日本機械学会ロボティクスメカトロニクス講演会'02. 2P2-L06 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 佐藤 大輔, 水内 郁夫, 吉海 智晃, 稲葉 雅幸, 井上 博允: "感覚情報を持つロボットによる人間の意図認識動作システム"日本ロボット学会創立20周年記念学術講演会. 3G19 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 水内郁夫, 但馬竜介, 長嶋功一, 吉海智晃, 佐藤大輔, 稲葉雅幸, 井上博允: "多種入出力を持つ全身腱駆動脊椎ヒューマノイド腱太のための拡張可能な通信システム構成"日本機械学会ロボティクスメカトロニクス講演会'02. 1P1-F02 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 中井博之, 星野由紀子, 稲葉雅幸, 井上博允: "軟化変形ロボットの研究 低融点金属の相変化を用いた形状適応変形ロボットの実現"日本ロボット学会学会誌. 20・6. 625-630 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Ikuo Mizuuchi, Masayuki Inaba, Hirochika Inoue: "A Flexible Spine Human-Form Robot…Development and Control of the Posture of the Spine…"IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS´01). 2099-2104 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] M.Inaba, I.Mizuuchi, R.Tajima, T.Yoshikai, K.Nagashima, H.Inoue: "Building Spined Mustle-Tendon Humanoid"Preprints of International Symposium on Robotics Research (ISRR2001). (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 稲葉 雅幸: "脊椎を持つ全身型メカトロニック行動体"日本ロボット学会学会誌. 19・7. 822-825 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Y.Nakamura, H.Hirukawa, K.Yamane, S.Kajita, M.G.Fujie, A.Takanishi, K.Fujiwara, F.Kanehiro, F.Nagashima, Y.Murase, Masayuki Inaba: "HUMANOID ROBOT SIMULATOR FOR THE MITI HRP PROJECT"Proc. of International Symposium on Robotics. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 中村, 比留川, 山根, 梶田, 横井, 藤江, 高西淳夫, 藤原, 永嶋, 村瀬, 稲葉, 井上: "仮想ロボットプラットフォーム"日本ロボット学会学会誌. 19・1. 28-36 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 稲葉, 長嶋, 水内, 但馬, 吉海, 國吉, 井上: "脊椎を持つ全身腱駆動ヒューマノイド「腱太」の開発…脊椎を持つ全身腱駆動ヒューマノイド「腱太」(その1)…"第19回日本ロボット学会学術講演会講演論文集. 775-776 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 稲葉, 水内, 但馬, 吉海, 長嶋, 國吉, 井上: "介護動作の訓練に利用可能なヒューマノイドの身体応答調節機能の研究"第19回日本ロボット学会学術講演会講演論文集. 783-784 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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