Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Abstract

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 develop joint modules that can directly measure joint angles, muscle modules that can realize various muscle routes, and nonlinear elastic units with soft structures, etc. Next, we develop MusashiLarm, a musculoskeletal platform composed of only joint modules, muscle modules, generic bone frames, muscle wire units, and a few attachments. Finally, we develop Musashi, a musculoskeletal humanoid platform which extends MusashiLarm to the whole body design, and conduct several basic experiments and learning control experiments to verify the effectiveness of its concept.

Accepted at IROS2019

References in corpus (6)

• Long-time Self-body Image Acquisition and its Application to the Control of Musculoskeletal Structures
• Online Learning of Joint-Muscle Mapping Using Vision in Tendon-driven Musculoskeletal Humanoids
• Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications
• Five-fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints
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• TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact

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