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

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Bibliographische Detailangaben
Hauptverfasser:	Onitsuka, Moritaka, Nishiura, Manabu, Kawaharazuka, Kento, Tsuzuki, Kei, Toshimitsu, Yasunori, Omura, Yusuke, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
Format:	Preprint
Veröffentlicht:	2024
Schlagworte:	Robotics
Online-Zugang:	Acceder al recurso
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author	Onitsuka, Moritaka Nishiura, Manabu Kawaharazuka, Kento Tsuzuki, Kei Toshimitsu, Yasunori Omura, Yusuke Asano, Yuki Okada, Kei Kawasaki, Koji Inaba, Masayuki
author_facet	Onitsuka, Moritaka Nishiura, Manabu Kawaharazuka, Kento Tsuzuki, Kei Toshimitsu, Yasunori Omura, Yusuke Asano, Yuki Okada, Kei Kawasaki, Koji Inaba, Masayuki
contents	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.
format	Preprint
id	arxiv_https___arxiv_org_abs_2404_00890
institution	arXiv
publishDate	2024
record_format	arxiv
spellingShingle	Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function Onitsuka, Moritaka Nishiura, Manabu Kawaharazuka, Kento Tsuzuki, Kei Toshimitsu, Yasunori Omura, Yusuke Asano, Yuki Okada, Kei Kawasaki, Koji Inaba, Masayuki Robotics 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.
title	Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function
topic	Robotics
url	https://arxiv.org/abs/2404.00890

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