Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866916501615804416 |
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| author | Koga, Yuya Kawaharazuka, Kento Onitsuka, Moritaka Makabe, Tasuku Tsuzuki, Kei Omura, Yusuke Asano, Yuki Okada, Kei Inaba, Masayuki |
| author_facet | Koga, Yuya Kawaharazuka, Kento Onitsuka, Moritaka Makabe, Tasuku Tsuzuki, Kei Omura, Yusuke Asano, Yuki Okada, Kei Inaba, Masayuki |
| contents | In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00737 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid Koga, Yuya Kawaharazuka, Kento Onitsuka, Moritaka Makabe, Tasuku Tsuzuki, Kei Omura, Yusuke Asano, Yuki Okada, Kei Inaba, Masayuki Robotics In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path, and difficulty in measuring own motion because of lack of joint angle sensor. In this study, we suggest two motion acquisition methods. One is a method to acquire antagonistic relations of muscles by tension sensing, and the other is a method to acquire correct hand trajectory by vision sensing. Finally, we realize badminton shuttlecock-hitting motion of Kengoro with these two acquisition methods. |
| title | Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.00737 |