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Kojiro

Details

Kojiro is a humanoid with a musculoskeletal system that mimics how the human body works to generate motion. The goal is to build a robot that is light and agile, capable of moving much as people do.

Creator
Tokyo University
Country
Japan πŸ‡―πŸ‡΅
Year
2007
Type
Humanoids, Research
Country
Japan πŸ‡―πŸ‡΅
Year
2007
Type
Humanoids, Research

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Specs

FEATURES
Flexible spine, cable-driven actuation system
HEIGHT
133 cm | 52.4 in
LENGTH
N/A cm | N/A in
WIDTH
N/A cm | N/A in
WEIGHT
45 kg | 99.2 lb
SPEED
N/A km/h | N/A mph

SENSORS
Gyroscope, three-axis accelerometer, six-axis force sensors (in the ankles). Each actuator with rotary encoder, tension sensor, and current and temperature sensors.
ACTUATORS
Three 1.5-W DC motors, 20 4.5-W DC motors, and 76 40-W DC motors. Motors connected to cables to form artificial muscles.
POWER
N/A
COMPUTING
N/A
SOFTWARE
N/A
DEGREES OF FREEDOM (DOF)
56 (Spine: 12 DoF; Head: 3 DoF; Neck: 9 DoF; Leg: 8 DoF x 2; Arm: 5 DoF x 2; Hand: 3 DoF x 2)
MATERIALS
Tendons made of synthetic fibers, including Vectran, Dyneema, and Zylon.
COST
N/A
STATUS
Inactive
WEBSITE
http://www.jsk.t.u-tokyo.ac.jp

History

Kojiro was developed at the University of Tokyo's JSK lab, led by Professor Masayuki Inaba, in the late 2000s. One of the robot's main designers was Yuto Nakanishi, a researcher at the laboratory.