2P2-I05 背骨を有する腱駆動ヒューマノイドにおける身体環境協応による歩行行動の実現(ヒューマノイド)

概要

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Musculo-skeletal humanoid Kojiro we use in this paper has multi-degree-of-freedoms and is driven by tedious muscles. As a result, even if its body is restrained to the environment, various postures could be taken. Therefore, it could be stable by positively entrusting its body to the environment. On the other hand, standing posture becomes unstable because it is difficult to make joint-stiffness high and its structure is complex. In this paper, we focus on the environmental contact action and apply combining reflex systems and parameter decision method. In the beginning, we explain that instruction value could be modified by combining reflex systems and parameters suitable for the environment could be acquired by proposed parameters decision method. Finally, we achieve an ambulation activity with contact to the environment and show that this approach is suitable for musculo-skeletal humanoids.
一般社団法人日本機械学会の論文
2011-05-26