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

Autor:	Onitsuka, Moritaka, Nishiura, Manabu, Kawaharazuka, Kento, Tsuzuki, Kei, Toshimitsu, Yasunori, Omura, Yusuke, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
Rok vydání:	2024
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
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. Comment: accepted at Humanoids2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2404.00890 Zobrazit plný text záznamu View this record from Arxiv