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The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls…
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…
While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far. There are various methods, such as control methods using…
The complex structure of musculoskeletal humanoids makes it difficult to model them, and the inter-body interference and high internal muscle force are unavoidable. Although various safety mechanisms have been developed to solve this…
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…
Musculoskeletal humanoids have various biomimetic advantages, of which redundant muscle arrangement is one of the most important features. This feature enables variable stiffness control and allows the robot to keep moving its joints even…
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
The body structures of tendon-driven musculoskeletal humanoids are complex, and accurate modeling is difficult, because they are made by imitating the body structures of human beings. For this reason, we have not been able to move them…
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we…
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situation. In this study, we describe an overall system of muscle…
Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar…
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex…
Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First,…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…
The human body is a complex organism whose gross mechanical properties are enabled by an interconnected musculoskeletal network controlled by the nervous system. The nature of musculoskeletal interconnection facilitates stability, voluntary…