Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
arXiv:2502.12808 · doi:10.1109/IROS45743.2020.9341510
Abstract
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control. However, there is a problem that the maximum joint angle velocity is limited by the slowest muscle among the redundant muscles. In this study, we propose two methods that can exceed the limited maximum joint angle velocity, and verify the effectiveness with actual robot experiments.
Accepted at IROS2020
References in corpus (7)
- Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems
- Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
- Long-time Self-body Image Acquisition and its Application to the Control of Musculoskeletal Structures
- Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids
- Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications
- Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
- Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid