3 papers
cs.RO2024
Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
Kento Kawaharazuka, Masaya Kawamura, Shogo Makino +3
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large b…
cs.RO2024
Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +4
The human forearm is composed of two long, thin bones called the radius and the ulna, and rotates using two axle joints. We aimed to develop a forearm based on the body proportion,…
cs.RO2024
A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-driven Humanoids with Complex Musculoskeletal Structures
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +3
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be install…