Musculoskeletal design, control, and application of human mimetic humanoid Kenshiro.

ABSTRACT

We have been developing a human mimetic musculoskeletal humanoid called Kenshiro, whose design concept is to thoroughly pursue an unprecedented anatomical fidelity to the human musculoskeletal structure. We believe that research on human mimetic musculoskeletal humanoids advances our understanding of humans and expands the applications of humanoids-such as a human body simulator that can quantitatively analyze internal human motion data. This paper describes Kenshiro's musculoskeletal body characteristics, software system, and preliminary experiments explaining the concept of potential application.