2A1-D35 筋骨格ヒューマノイドの背骨を用いた投球動作の実現

概要

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Human can do various motions by skillfully using a flexible spine. For example, without controlling a compliance of spine or generating big force by many muscles of trunk, many daily life activities are restricted. Therefore, we have been developing and studing musculo-skeletal humanoids which have flexible spine-structure like human. In this paper, we focus on pitching motion which use elastic spine. Here, we investigated relationship between velocity of hand and how to twist spine. By Using the result, we realize the better pitching motion of a actual musculo-skeletal humanoid Kotaro.
一般社団法人日本機械学会の論文