Muscle-tendon complexes that fill the body may also fill the gap between robots and humans. We have developed a wire-wound Muscle-Tendon Complex (ww-MTC) as an extension of the wire drive, incorporating muscle exterior and tendon elements. The robot with ww-MTC demonstrated several advantages: reduced wire loosening, interference, and wear; improved robustness during environmental contact; and a muscular appearance. The latest robot with 3D ww-MTC can maintain its operation even if the position and shape of the muscles change during environmental contact.
  This study sheds light on the geometric deformation, especially the effect of muscle expansion, which has not been paid attention to in drive systems that mimic the muscle-tendon complexes of living organisms. In the future, we will realize various muscle shapes to create a humanoid robot that has human-like performance, adaptability, and appearance.

Related Publications

1. Y. Ribayashi, Y. Sahara, S. Sawaguchi, K. Miyama, A. Miki, K. Kawaharazuka, K. Okada, M. Inaba: “Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive”, IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024.11, (in press), arXiv Link

2. Y. Ribayashi, K. Miyama, A. Miki, K. Kawaharazuka, K. Okada, K. Kawasaki, M. Inaba: “Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot Configuration”, IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2023), pp. 758-764, 2023.12, Paper Link

  We developed a robot foot with an outer edge measurement structure equipped with one-axis force sensors on the bottom and sides. By using this structure and the attitude of the foot to control the measured frictional force, we have made it possible to perform a large rotational motion in a chair seated state, which requires the use of the outer edge of the foot. We also developed a device to measure the contact pressure distribution at the outer edge of the sole, and realized a humanoid robot behavior that imitates the condition of the human foot.

Related Publications

1. Y. Ribayashi, K. Kawaharazuka, Y. Toshimitsu, D. Kusuyama, A. Miki, K. Shinjo, M. Bando, T. Suzuki, Y. Kojio, K. Okada, M. Inaba: “Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control”, IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), pp. 314-321, 2022.11 (Top 7 Candidates of Best Oral Paper Presentation), Paper Link

2. Y. Ribayashi, K. Kawaharazuka, Y. Toshimitsu, D. Kusuyama, A. Miki, K. Shinjo, M. Bando, T. Suzuki, Y. Kojio, K. Okada, M. Inaba: “Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 4243-4249, 2022.10, Paper Link 

  We used a wire-driven musculoskeletal humanoid to achieve the drumroll technique by varying the stiffness and stick grip. We aim to acquire movements that skillfully utilize the dynamics of the body, tools, and environment.

Related Publications

1. 李林 嘉元, 三木 章寛, 河原塚 健人, 岡田 慧, 稲葉 雅幸: “腱駆動ヒューマノイドによるスティック把持状態と剛性の変化を利用したドラムロール実現”,第40回日本ロボット学会学術講演会, 4E1-06, 2022.9