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We have been studying on how to realize robots that have physical flexibility and redundant multiple degrees of freedom. How to control the machine is still a problem and even maintaining standing was difficult. After joining the Prototype Robot Exhibition at the EXPO'05 with our novel musculoskeletal humanoid `Kotaro,' we have made various improvements to the robot. This paper describes the improvements, and presents some experiments. The highlight is realization of standing itself, based on a concept of 'reinforceable muscle humanoid,' which we have proposed
Mizuuchi et al. (2006) studied this question.