Key points are not available for this paper at this time.
We are developing the novel musculoskeletal humanoid that is able to do coordinated motion with arms, legs and especially trunk body. In this research, we designed and implemented the trunk consisting of redundant articulated spine joints which can hold up and drive the upper body and pelvis. Furthermore, we confirmed that this trunk body ability to do fullbody motion, by an experiment of spine rotation motions with the real humanoid developed.
Nakanishi et al. (Thu,) studied this question.