2A1-D38 肩甲骨・鎖骨構造を有する筋骨格型ヒューマノイドの幾何制約を考慮した肩の運動生成法

概要

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We designed a flexible shoulder structure following the bladebone-collarbone structure for a muscledriven humanoid robot named Kotaro. We consider that the structure has the following merits, 1)wide range of movement, 2)having the shoulder structure built on to the outside of the chest, allowing space for a lot of parts inside the chest, 3)flexible shoulder like humans. In contrast, it is difficult to control bladebone structures becouse it have multiple degrees of freedom and extraordinary physical constraints. An aim of our research is to create the repeatability motion generation system of bladebone structures for real musculo-skeletal humanoid robots. We developed the simulation system used 3-dimensional geometry model, allowing for geometry constraints of bladebone-collarbone structures and extending a collision check program between a bladebone and a chest.
一般社団法人日本機械学会の論文