The goal of this project is to realize a robot works in natural environment and interacts with people. HUMA is a research platform to study physical human-robot interaction developed by Center for Information and Neural Networks (CiNet) & Intelligent Robotics Laboratory. This robot is a musculoskeletal robot driven by many redundant air cylinders. We proposed and implemented an actuator network system (ANS) that is composed of multiple cylinders connected by many valves. The ANS can generate various responses by switching the connections between cylinders using those valves. HUMA with an ANS can modify its physical interactions with the environment.

Videos Motion data（HUMAdyn）