Abstract
Our new musculo-skeletal humanoid Kenshiroh has humanlike articular structured joint and muscle arrangement. These features are achieved by using a planar muscle unit which is composed of moving pulleys. Because this robot is difficult to make its physical model, making motion of it is hard. Therefore motion teaching method has an advantage in creating motion of our robot. But the planar muscle unit has some problem in controlling its wire tension, then we have applied variable target tension method for tension control of a planar muscle. Also, we tested the method on humanlike shoulder structured robot, and taught motion direct.
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