Tendon-driven torso control for a whole-body agent which has multi-DOF spine

摘要

By embedding multi-DOF soft structure into a robot body as a spine, robot can increase its ability to absorb shock and to work in various environment. We developed a five-jointed spine. Each joint is ball joint and has 3 DOF. Between each vertebra is a disk made of silicone rubber. The spine it controlled by eight tendons, whose tensions are controlled using a tension-sensor.