Flexible Spine Robot and Tendon-driven Humanoid

Flexible Spine Robot

• "BeBe": a spine Robot
  • Points
    • Mechanical flexibility by air artificial muscle
    • Artificial muscles are placed by consultation of human's muscles arrangement.
    • How to control a redundant structure: (a general control method using sensor (vision) information feedback)
    • Perform the task under disturbance or under a restriction, using the redundancy
  • Example motion (tracking)
    

• "SQ43": a quadruped spine robot
  • Points
    • Shock absorption
    • Moving on a irregular surface using adaptation to the form of the surface
    • Moving in a narrow place
  • Some postures using spine's flexibility
    
  • Example motion
    

• "Hanzou-S": a human-form robot which has variable flexibility
  • Points
    • Dynamical control of the flexibility according to the situation
    • Shock absorption by softening when suspecting a shock
    • Dynamic motion of whole-body robot embedded with flexible structure
  • Brachiation (adjusting the flexibility of torso during the motion)
    

• Simulation Environment
  • Points
    • Estimation of any data (inner force of torso, etc) of whole-body motion
    • Motion generation in conjunction with learning or genetic algorith
    • Simulation of dynamical change of the flexibility
  • Software
    
  • Dynamically variable flexibility simulation
    
  • A SQ43's motion generated using the simulation environment (simulation and real robot)
    

• "Rabbit": a whole-body robot which has multi-joint flexible spine
  • Points
    • Hard motion and soft motion
    • Any posture using six tendons
    • Motions using its many degrees of freedom
  • Example motion (gymnastics, possible postures, changing the flexibility)
    

• "Cla": a flexible-spine human-form robot
  • Points
    • Whole-body motion using the flexible spine
  • Example motions (roll-pitch-yaw, pickup an object from the floor and putting it on the table, throwing an object using spine)
    

• Future
  • Whole-body motion generation
  • Adapting change of parameters
  • The motions which is using a releasing energy of stored elastic energy

• Reference
  1. Ikuo Mizuuchi, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue: ``The Development and Control of the Flexible-Spine of a Human-Form Robot'', Advanced Robotics, Vol.17, No.2, pp.179--196, 2003
  2. I. Mizuuchi, M. Inaba, and H. Inoue: ``A Flexible Spine Human-Form Robot --- Development and Control of the Posture of the Spine ---'', Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2099--2104, 2001
  3. I. Mizuuchi, A. Hara, M. Inaba, and H. Inoue: "Tendon-driven torso control for a whole-body agent which has multi-DOF spine.", Proc. of the 18th Annual Conference of the Robotics Society of Japan, Vol.3, pp.1459--1460, 2000
  4. A. Hara, I. Mizuuchi, M. Inaba, and H. Inoue: "The full body robot which has a tendon-driven multi-joint torso.", Proc. of the 18th Annual Conference of the Robotics Society of Japan, Vol.3, pp.1433--1434, 2000
  5. I. Mizuuchi, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which has variable soft structure.", Proc. of the 17th Annual Conference of the Robotics Society of Japan, Vol.3, pp.1197--1198, 1999
  6. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "GA-based motion generation for quadruped robot which has soft spine structure.", Proc. of the 17th Annual Conference of the Robotics Society of Japan, Vol.1, pp.199--200, 1999
  7. T. Kawashima, I. Mizuuchi, H. Yamaguchi, S. Kagami, M. Inaba, and H. Inoue: "A Hyper-Redundant Spine-Type Robot with Pneumatic Artificial Muscles", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 2A1-47-081, 1999
  8. T. Matsuki, I. Mizuuchi, S. Kagami, M. Inaba, and H. Inoue: "Motion Generation and Action Control of A Walking Quadruped Robot with Flexible Spine Structure", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 1P2-42-063, 1999
  9. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which contains soft structure, and its application to real robot's motion generation", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 2A1-47-085, 1999
  10. T. Matsuki, I. Mizuuchi, S. Kagami, M. Inaba, and H. Inoue: "Quadruped Robot with Spine Structure and Simulation Environment", Proc. of the 16th Annual Conference of the Robotics Society of Japan, Vol.1, pp.85--86, 1998
  11. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "An Approach to a Humanoid That Has a Variable Flexible Torso", Proc. of the 16th Annual Conference of the Robotics Society of Japan, Vol.2, pp.825--826, 1998

Tendon-driven Humanoid

• "TH1": Tendon-driven Humanoid

• Reference
  1. H. Yamaguchi, R. Kageyama, M. Inaba, and H. Inoue: "A Tendon-Driven 3-Dimensional Bipedal Walking Robot -- Research on Tendon-Driven Humanoid Robots(1) --", Proc. of the 17th Annual Conference of the Robotics Society of Japan, pp.359--360, 1999
  2. R. Kageyama, K. Nishiwaki, S. Kagami, H. Yamaguchi, M. Inaba, and H. Inoue: "Angle sensing element using magnetic coils ---Research on Tendon-Driven Humanoid Robots(2)---", Proc. of the 17th Annual Conference of the Robotics Society of Japan, pp.357--358, 1999
  3. H. Yamaguchi, K. Nagashima, R. Kageyama, M. Inaba, and H. Inoue: "A Development of a Fully Tendon-Driven Humanoid Robot", Proc. of the Fifth Robotics Symposia, pp.323--326, 2000

Whole-Body Tendon-Driven Humanoid with Flexible Spine

• "Kenta": a whole-body tendon-driven humanoid with flexible spine

• Points
  • Whole-body motions using the flexible spine
  • Human-like natural motion
  • How to build and control a complexed-structure many-DOF robot
• Example motions (bending torso, playing back the directly taught motion, tracking an object by vision using eye-balls,neck,and spine cooperatively)
  

• Reference
  1. Ikuo Mizuuchi, Tomoaki Yoshikai, Shigenori Yoshida, Yuto Nakanishi, Noritaka Ohtake, Masayuki Inaba, and Hirochika Inoue: ``Study on Information System for Robots of Complex Body Structure``, The 21st Annual Conference of The Robotics Society of Japan, 3H33, 2003
  2. Ikuo Mizuuchi, Hironori Waita, Yuto Nakanishi, Tomoaki Yoshikai, Masayuki Inaba, and Hirochika Inoue: ``A Musculo-Skeletal Robot Leg Capable of Adding or Rearrainging the Muscles'', The 21st Annual Conference of The Robotics Society of Japan, 1C29, 2003
  3. Ikuo Mizuuchi, Yuto Nakanishi, Tomoaki Yoshikai, Masayuki Inaba, and Hirochika Inoue: ``A Software System where Body Information of Redundant Musculo-Skeletal humanoid'', The 21st Annual Conference of The Robotics Society of Japan, 1C2a, 2003
  4. Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba, and Hirochika Inoue: ``Acquisition of an imitation behavior in Kenta with R-learning algorithm'', The 21st Annual Conference of The Robotics Society of Japan, 2A28, 2003
  5. Ikuo Mizuuchi, Tomoaki Yoshikai, Daisuke Sato, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue: ``Behavior Developing Environment for the Large-DOF Muscle-driven Humanoid Equipped with Numerous Sensors'', In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp.1940--1945, 2003
  6. Tomoaki Yoshikai, Shigenori Yoshida, Ikuo Mizuuchi, Daisuke Sato, Masayuki Inaba, and 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), pp.--, 2003
  7. Tomoaki Yoshikai, Ikuo Mizuuchi, Daisuke Sato, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue: "Behavior System Design and Implementation in Spined Musle-Tendon Humanoid 'Kenta'", Journal of Robotics and Mechatronics, Vol.15, No.2, pp.143--152, 2003
  8. Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba, and Hirochika Inoue: ``Development and Implementation of the auditory information processing system for audition-based behavior in humanoid Kenta'', 2003 JSME Conference On Robotics And Mechatronics, 2A1-1F-E4, 2003
  9. Masayuki Inaba, Ikuo Mizuuchi, Ryosuke Tajima, Tomoaki Yoshikai, Daisuke Sato, Koichi Nagashima, and Hirochika Inoue: ``Building Spined Mustle-Tendon Humanoid'', in Robotics Research: The Tenth International Symposium, Springer Verlag, pp.113--130, 2003
  10. Ikuo Mizuuchi, Tomoaki Yoshikai, Daisuke Sato, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue: "Swing Motion by a Spined Whole-Body Tendon-Driven Humanoid ``Kenta''", Proceedings of the 20th Annual Conference of the Robotics Society of Japan, 1C38, 2002
  11. Tomoaki Yoshikai, Ikuo Mizuuchi, Daisuke Sato, Shigenori Yoshida, Masayuki Inaba, and Hirochika Inoue: ``Imitation behaviors of Kenta by behavioral integration with reflexes'', Proceedings of the 20th Annual Conference of the Robotics Society of Japan, 1C36, 2002
  12. Daisuke Sato, Ikuo Mizuuchi, Tomoaki Yoshikai, Masayuki Inaba, and Hirochika Inoue: ``Human Intention Recognition System by a Robot with Sensors'', Proceedings of the 20th Annual Conference of the Robotics Society of Japan, 3G19, 2002
  13. Ikuo Mizuuchi, Ryosuke Tajima, Tomoaki Yoshikai, Daisuke Sato, Koichi Nagashima, Masayuki Inaba, Yasuo Kuniyoshi, and Hirochika Inoue: "The Design and Control of the Flexible Spine of a Fully Tendon-Driven Humanoid ``Kenta''", Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2527--2532, 2002
  14. Tomoaki Yoshikai, Daisuke Sato, Ryosuke Tajima, Ikuo Mizuuchi, Yasuo Kuniyoshi, Masayuki Inaba, and Hirochika Inoue: ``Adaptive behavior of tendon-driven humanoid 'Kenta' by integration among voluntary behaviors,reflexes,and reactive behaviors'', 2002 JSME Conference On Robotics And Mechatronics, 2P2-L06, 2002
  15. Ikuo Mizuuchi, Ryosuke Tajima, Koichi Nagashima, Tomoaki Yoshikai, Daisuke Sato, Masayuki Inaba, Yasuo Kuniyoshi, and Hirochika Inoue: ``The extensible onbody system of the whole-body tendon-driven spine-humanoid Kenta which has multiple types of inputs/outputs'', 2002 JSME Conference On Robotics And Mechatronics, 1P1-F02, 2002
  16. Masayuki Inaba, Ikuo Mizuuchi, Ryosuke Tajima, Tomoaki Yoshikai, Koichi Nagashima, and Hirochika Inoue: ``Building Spined Muscle-Tendon Humanoid'', Proceedings of International Symposium on Robotics Research, 2001
  17. M. Inaba, K. Nagashima, I. Mizuuchi, R. Tajima, T. Yoshikai, Y. Kuniyoshi, and H. Inoue: "Development of the tendon-driven humanoid `Kenta' with flexible spine", Proc. of the 19th Annual Conference of the Robotics Society of Japan, pp.775--776, 2001
  18. I. Mizuuchi, M. Inaba, K. Nagashima, R. Tajima, T. Yoshikai, Y. Kuniyoshi, and H. Inoue: "Design and control of a flexible spine for the whole-body humanoid `Kenta'", Proc. of the 19th Annual Conference of the Robotics Society of Japan, pp.777--778, 2001
  19. R. Tajima, I. Mizuuchi, T. Yoshikai, K. Nagashima, Y. Kuniyoshi, M. Inaba, and H. Inoue: "The Limb Structure with Ball and Socket Joints for the Humanoid `Kenta'", Proc. of the 19th Annual Conference of the Robotics Society of Japan, pp.779--780, 2001
  20. T. Yoshikai, M. Inaba, I. Mizuuchi, R. Tajima, K. Nagashima, H. Waita, Y. Kuniyoshi, and H. Inoue: "Eyeball structure and attention control for the flexible-spine humanoid `Kenta' --- Kenta: A tendon-driven humanoid with flexible spine ---", Proc. of the 19th Annual Conference of the Robotics Society of Japan, pp.781--782, 2001
  21. M. Inaba, I. Mizuuchi, R. Tajima, T. Yoshikai, K. Nagashima, H. Waita, Y. Kuniyoshi, and H. Inoue: "Adaptive body reactions to nursing operations for training with humanoid", Proc. of the 19th Annual Conference of the Robotics Society of Japan, pp.783--784, 2001

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