Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
arXiv:2502.16089 · doi:10.1109/Humanoids43949.2019.9034994
Abstract
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex musculoskeletal structure is difficult to modelize and high internal muscle tension sometimes occurs. To solve these problems, we develop a muscle relaxation control which can minimize the muscle tension by actively using the environment and inhibit useless internal muscle tension. We apply this control to some basic movements, the motion of resting the arms on the desk, and handle operation, and verify its effectiveness.
Accepted at Humanoids2019
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- Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
- Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
- Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications