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musculoskeletal humanoid robot with soft actuators for biomechanics studies

Research Project

Project/Area Number 15H05320
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

NIIYAMA Ryuma  東京大学, 大学院情報理工学系研究科, 講師 (00734592)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥24,180,000 (Direct Cost: ¥18,600,000、Indirect Cost: ¥5,580,000)
Fiscal Year 2017: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2015: ¥12,220,000 (Direct Cost: ¥9,400,000、Indirect Cost: ¥2,820,000)
Keywords人型ロボット / バイオメカニクス / 人工筋肉 / 筋骨格ロボット / 知能機械 / ソフトアクチュエータ
Outline of Final Research Achievements

The goal of this research is developing an anthropomorphic active dummy of human body with muscle-driven bio-inspired humanoid robot. We developed a thin flexible pneumatic actuator that mimic bionic muscle. In the pilot studies, we conducted vertical jumping experiments with a legged robot and arm swing experiments with high-speed robot arm. We integrated these components into a full body musculoskeletal humanoid robot. We chose swimming movements for the experiments. In a large water tank, the robot performed dolphin kick motions. The orientation and thrust force are measured in the experiment. We verified that the musculoskeletal robot can be a research platform for biomechanics studies.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Annual Research Report
  • 2015 Annual Research Report
  • Research Products

    (9 results)

All 2018 2017 2016 2015

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (8 results) (of which Int'l Joint Research: 3 results)

  • [Journal Article] High-speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot2018

    • Author(s)
      Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 3 Pages: 1727-1734

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Presentation] Bilateral Teleoperation System for a Musculoskeletal Robot Arm using a Musculoskeletal Exoskeleton2017

    • Author(s)
      Xi Chen, Satoshi Nishikawa, Kazutoshi Tanaka, Ryuma Niiyama, Yasuo Kuniyoshi
    • Organizer
      In Proc IEEE International Conference on Robotics and Biomimetics (ROBIO)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Environmental and Structural Effects on Physical Reservoir Computing with Tensegrity2017

    • Author(s)
      Kenichi Fujita, Syogo Yonekura, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
    • Organizer
      In Proc. 5th IIAE International Conference on Intelligent Systems and Image Processing (ICISIP)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] バドミントンのための高加速・高速な手首を有する人型ロボットアームの開発2017

    • Author(s)
      森翔太郎,田中一敏,西川鋭,新山龍馬,國吉康夫
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 回転跳躍ロコモーションを行なうハンドスプリングロボットの制御2017

    • Author(s)
      長晴紀,西川鋭,新山龍馬,國吉康夫
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 身体構造のダイナミクスを利用したReservoir Computing に関する研究2017

    • Author(s)
      藤田健一,米倉将吾,西川鋭,新山龍馬,國吉康夫
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 筋骨格ロボットの運動学習のためのHuman-in-the-loop教師あり学習システム2016

    • Author(s)
      陳熙,田中一敏,西川鋭,新山龍馬,國吉康夫
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      札幌、札幌コンベンションセンター
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] やわらかい表情ロボットのための変形する口の開発2016

    • Author(s)
      臼井喜紀,新山龍馬,國吉康夫
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      札幌、札幌コンベンションセンター
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] Printable Pneumatic Artificial Muscles for Anatomy-based Humanoid Robots2015

    • Author(s)
      Ryuma Niiyama, Carine Rognon, Yasuo Kuniyoshi
    • Organizer
      IEEE-RAS International Conference on Humanoid Robots
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      2015-11-03
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research

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Published: 2015-04-16   Modified: 2019-03-29  

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