Human mimetic musculoskeletal humanoid Kengoro toward real world physically interactive actions

We have been developing human mimetic musculoskeletal humanoids from the view point of human-inspired design approach. Kengoro is our latest version of musculoskeletal humanoid designed to achieve physically interactive actions in real world. This study presents the design concept, body characteristics, and motion achievements of Kengoro. In the design process of Kengoro, we adopted the novel idea of multifunctional skeletal structures to achieve both humanoid performance and humanlike proportions. We adopted the sensor-driver integrated muscle modules for improved muscle control. In order to demonstrate the effectiveness of these body structures, we conducted several preliminary movements using Kengoro.