Abstract
This paper presents the design of the humanoid robot KENSEI-chan for RoboCup Humanoid League. Many humanoids have been developed, but no humanoids have a capability of running. Because running needs huge torque, shock tolerance, and weight reduction. KENSEI-chan was designed with these things. KENSEI-chan is planed to have 12 degrees of freedom (DOFs) in two legs, 4 DOFs in two arms, 2 DOFs in the neck, and 1 DOFs in the trunk. Totally KENSEI-chan has 19 DOFs. 2DOFs in the knees and the ankles are Rotary Elastic Joints, which provide shock tolerance and force control.
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© 2002 Springer-Verlag Berlin Heidelberg
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Demura, K., Tachi, N., Maekawa, T., Ueno, T. (2002). KENSEI-chan: Design of a Humanoid for Running. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_39
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DOI: https://doi.org/10.1007/3-540-45603-1_39
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