Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function

Autor:	Moritaka Onitsuka, Yuki Asano, Koji Kawasaki, Yasunori Toshimitsu, Masayuki Inaba, Kento Kawaharazuka, Kei Okada, Yusuke Omura, Kei Tsuzuki, Manabu Nishiura
Rok vydání:	2021
Předmět:	Planar Computer science media_common.quotation_subject technology industry and agriculture Torque Development (differential geometry) Function (engineering) Humanoid robot Simulation media_common
Zdroj:	HUMANOIDS
DOI:	10.1109/humanoids47582.2021.9555807
Popis:	Musculoskeletal humanoids have been developed by imitating humans and expected to perform natural and dynamic motions as well as humans. To achieve desired motions stably in current musculoskeletal humanoids is not easy because they cannot maintain the sufficient moment arm of muscles in various postures. In this research, we discuss planar structures that spread across joint structures such as ligament and planar muscles and the application of planar interskeletal structures to humanoid robots. Next, we develop MusashiOLegs, a musculoskeletal legs which has planar interskeletal structures and conducts several experiments to verify the importance of planar interskeletal structures.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::1e66384fa9284f44cce73afefcee998e https://doi.org/10.1109/humanoids47582.2021.9555807 Zobrazit plný text záznamu