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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
Creator
Tokyo University
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
Ongoing
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.
WEBSITE
http://www.jsk.t.u-tokyo.ac.jp

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