Abstract
For realizing a robot that can help people safely, a musculoskeletal humanoid is an efficient approach. However, it was very difficult to have multiple spine structure because the composition and control regulation were very complicated. Then, we set a goal of making a body trunk having a multiple spine structure like human. In this paper, we approach making "sheet muscles" suitable for multiple spine structure. "Sheet muscles" that move some wires for a motor by using some moving pulleys can realize easier structure and regulation for the body trunk of humanoids than previous "liner muscles" that move only one wire for one motor.
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