2A1-D37 筋配置可変な筋骨格ヒューマノイドのための関節発生トルク要件に基づく筋張力和最小の筋配置決定法

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It is difficult to decide the most suitable muscle configuration of musculo-skeletal robots at the design phase, because the optimized arrangement depends on a robot task. In this paper, muscle configuration means types of muscle actuators and tendon arrangement, which is attachment positions, paths and quantity of tendons. In order to evaluate more suitable muscle configuration, after the design and development of robots, we have developed a musculo-skeletal humanoid whose muscles can be added and rearranged easily. We call these robots reinforceable musculo-skeletal robots. This paper describes how to decide the robot tendon arrangement which is suitable for each task based on the torque requirements. And we actually addressed the proper tendon arrangement minimizing the sum of muscle forces by using proposed method, in the two typical motions, such as a bending-knee and a kicking.
一般社団法人日本機械学会の論文