Kojiro

A humanoid robot with a system of artificial muscles, tendons and joints. — Kojiro's musculoskeletal system mimics yours. Photo: Tokyo University

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

Year

2007

Country

Japan 🇯🇵

Categories

Features

Demo of Kojiro's flexible spine. Video: IEEE Spectrum

Did you know?

In one experiment, researchers programmed Kojiro to hula hoop, but the robot managed only two full revolutions.

Close up of Kojiro's white face and open head through which cameras and electronics can be seen. — The robot's face has three cameras. Photo: Tokyo University

Rear view of a humanoid robot whose structure is exposed. — Kojiro has artificial muscles and tendons, and a flexible spine. Photo: Tokyo University

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. Kojiro was designed to mimic the way our skeleton, muscles, and tendons work to generate motion.

The robot is seated and posed at a table with it's hands clasped as it looks at the camera. — Kojiro formulates his evil plans. Photo: Tokyo University

A crouched man holds the legs of a humanoid robot as it does a sit up. — Four thousand and one... Four thousand and two... Photo: Tokyo University

More Images

A white humanoid robot arches its "spine" so that it appears to be beginning to do a back bend. — Limbo anyone? Photo: Tokyo University

Specs

Overview: Flexible spine, cable-driven actuation system
Status: Inactive
Year: 2007
Website: jsk.t.u-tokyo.ac.jp
Height: 133 cm
Weight: 45 kg
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.
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.