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

Moritaka Onitsuka; Manabu Nishiura; Kento Kawaharazuka; Kei Tsuzuki; Yasunori Toshimitsu; Yusuke Omura; Yuki Asano; Kei Okada; Koji Kawasaki; Masayuki Inaba

doi:10.1109/HUMANOIDS47582.2021.9555807

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

Robotics 2024-04-02 v1

Authors: Moritaka Onitsuka , Manabu Nishiura , Kento Kawaharazuka , Kei Tsuzuki , Yasunori Toshimitsu , Yusuke Omura , Yuki Asano , Kei Okada , Koji Kawasaki , Masayuki Inaba

View on arXiv ↗ PDF ↗ DOI ↗

Abstract

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.

Cite

@article{arxiv.2404.00890,
  title  = {Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function},
  author = {Moritaka Onitsuka and Manabu Nishiura and Kento Kawaharazuka and Kei Tsuzuki and Yasunori Toshimitsu and Yusuke Omura and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
  journal= {arXiv preprint arXiv:2404.00890},
  year   = {2024}
}

Comments

accepted at Humanoids2020

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

Abstract

Cite

Comments

Related papers