Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture
arXiv:2502.12803 · doi:10.1109/IROS51168.2021.9636845
Abstract
Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this study, we focus on one feature of the redundancy, which enables the humanoid to keep moving even if one of its muscles breaks, an advantage that has not been dealt with in many studies. In order to make the most of this advantage, the design of muscle arrangement is optimized by considering the maximization of minimum available torque that can be exerted when one muscle breaks. This method is applied to the elbow of a musculoskeletal humanoid Musashi with simulations, the design policy is extracted from the optimization results, and its effectiveness is confirmed with the actual robot.
Accepted at IROS2021
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Cited by in corpus (3)
- Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
- Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots
- Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids: Empirical Study on Kengoro and Musashi