Japanese

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

 

 
Bending torso while standing
   
 
Playing back the directly taught motion
  
   
 
Tracking an object by vision using eye-balls,neck,and spine cooperatively
  
   

 


References
  1. 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
  2. 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
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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
  10. 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
  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. 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
  13. Masayuki Inaba, Ikuo Mizuuchi, Ryosuke Tajima, Tomoaki Yoshikai, Daisuke Sato, Koichi Nagashima, and Hirochika Inoue: ``Building Spined Mustle-Tendon Humanoid'', Robotics Research: The Tenth International Symposium，pp.113--130, Springer Verlag, 2002
  14. 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
  15. 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
  16. 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.9--14, 2003
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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

【Note】 Movies are limited in the laboratory.

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