  By the recent spread of machine learning in the robotics field, a humanoid
that can act, perceive, and learn in the real world through contact with the
environment needs to be developed. In this study, as one of the choices, we
propose a novel humanoid TWIMP, which combines a human mimetic musculoskeletal
upper limb with a two-wheel inverted pendulum. By combining the benefit of a
musculoskeletal humanoid, which can achieve soft contact with the external
environment, and the benefit of a two-wheel inverted pendulum with a small
footprint and high mobility, we can easily investigate learning control systems
in environments with contact and sudden impact. We reveal our whole concept and
system details of TWIMP, and execute several preliminary experiments to show
its potential ability.
