HASEKO - KUMA HALL

筋骨格ヒューマノイド-小次郎Musculoskeletal Humanoid "Kojiro"

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機械情報工学科Department of Mechano-Informatics

筋骨格ヒューマノイド-小次郎
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Human beings manage quite complex body from infant to the aged, which is composed of numerous number of muscles and more than 200 bones. On the other hand, ordinary Humanoids are composed of 3-40 number of joints in total, and it is not clear how humanoid become able to act as adaptively to the environment from learning how to move its complex body with high redundancy by numerous number of muscles and bones as humans do.
Musculoskeletal Humanoid Kojiro has been developed along with a research theme that how it becomes able to act with maintaining strength of its body, even if it is composed of skeletal structure made of resin lighter than metal and 109 number of muscle actuators. Wide joint range in upper limb is achieved by spherical thorax – collar bone – scapula connection in the shoulder. Thanks to variable stiffness in the wrist by antagonistic arrangement of non-linear springs, the wrist can adapt to the environmental contact or collision. Leg structure has high strength and stiffness even it is made of resin. Various number of experiments with Kojiro have been conducted, such as standing with two legs, sensor-based reflective walking, playing Japanese drum, or exercising using spine.
Kojiro is the fundamental base of advanced successors Kenshiro and Kengoro, which are composed of human mimetic musculoskeletal structures with high bio-fidelity to humans in terms of muscle arrangements and skeletal structures.

Musculoskeletal humanoid
2007
Size: 1350×700×700
Weight: 45kg
Production: JSK Robotics Laboratory, Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
Collection: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
Musculoskeletal humanoid Kojiro have been developed along with research theme that how it become able to act with maintaining strength of its body even if it is composed of skeletal structure made of resin lighter than metal, 4 joints spine structure by vertebrae components, and 109 number of muscle actuators.

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筋骨格ヒューマノイド-小次郎