Japanese　

"Cla": a flexible-spine human-form robot

• Points
  • Whole-body motion using the flexible spine

• Example motions

Roll-pitch-yaw motion while sitting	Pickup an object from the floor and putting it on the table
Throwing an object using spine	Rolling over

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

References

1. 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
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. S.Yoshida, I. Mizuuchi, M. Inaba, Y. Kuniyoshi, H. Inou: ``Acquisition of crawl-motion of the flexible-spine humanoid robot by GA'', Proc. of 2002 JSME Conference on Robotics and Mechatronics (ROBOMEC'02), 2P2-L04, 2002.
4. I. Mizuuchi, S. Yoshida, M. Inaba, and H. Inoue: ``The Development and Control of the Flexible-Spine of a Human-Form Robot'', Advanced Robotics, Vol.17, No.2, pp.179--196， 2003(Best Paper Award)

【Note】 Movies are limited in the laboratory.

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